Návrh a realizace modelu inverzního kyvadla

Abstract

The master thesis deals with a problem balancing of an inverted pendulum. The main goal is to design and realize the laboratory stand of inverted pendulum. There are the analyses of different type of inverted pendulum and proper one was chosen for realization. Theoretical part contains creations of mathematical model and control design. The correctness was verified with help of digital simulation. Practical part is devoted to choosing each components and real laboratory stand was created. The control algorithms were implemented in Matlab&Simulink environment.