in Partial Fulfillment of the Requirements for the Degree of
Bachelor of Science
at the

Signature of Author:............................................................................................................
Department of Mechanical Engineering
May 5, 1999

Certified by:.........................................................................................................................
David L. Trumper
Associate Professor of Mechanical Engineering
Thesis Supervisor

Accepted by:................................................................... .....................................................
Ernest G. Cravalho
Chairman, Undergraduate Thesis Committee
Department of Mechanical Engineering

Submitted to the Department of Mechanical Engineering on
May 5, 1999, in Partial Fulfillment of the Requirements for the Degree of
Bachelor of Science in Mechanical Engineering.

The inverted pendulum is a common, interesting control problem that involves many
basic elements of control theory. This thesis investigates the standup routine and
stabilization at the inverted position of a pendulum-cart system. The standup routine uses
strategic cart movements to add energy to the system. Stabilization at the inverted
position is accomplished through linear state feedback. Methods are implemented using
the Matlab Simulink environment, with a dSPACE DSP controller board for interaction
with the physical system. Algorithms described in this report were successful and
consistently produced the desired results. This report serves as a guide to the current
working system and as background information on the inverted pendulum.

6\ue000 1.3 Organization................................................................................................. 7\ue000 1.4 Acknowledgements...................................................................................... 7\ue000

8\ue000
2.1 Lagrangian Dynamic Analysis..................................................................... 8\ue000
2.2 Linearization and Transfer Function Generation......................................... 12\ue000
2.3 State Space Representation.......................................................................... 17\ue000

4.2 Standup Routine........................................................................................... 24\ue000 4.2.1 Cart Position Control.......................................................................... 24\ue000 4.2.2 Motion Strategy: A Work Analysis.................................................... 26\ue000

5.2 Overview of the Simulink Model................................................................ 36\ue000 5.2.1 Top Level............................................................................................ 38\ue000 5.2.2 Measurements..................................................................................... 40\ue000 5.2.3 Filter Bank.......................................................................................... 41\ue000 5.2.4 Input.................................................................................................... 42\ue000 5.2.5 Linear Controller................................................................................. 43\ue000 5.2.6 Standup Routine.................................................................................. 43\ue000 5.2.7 Controller Select................................................................................. 53\ue000 5.2.8 Error Processor.................................................................................... 54\ue000 5.2.9 Control Effort...................................................................................... 55\ue000