Modeling and Control of a Linear Inverted Pendulum using 2-DOF Control Structure

Abstract

The general framework of this thesis is the control design of complex nonlinear systems and solving the optimal control problem(OCP) via numerical methods. The proposed approach is demonstrated with the use of case study regarding a typical mechatronic system-control design of inverted pendulum on the cart. Methodology used for solution of this problem is based on two-degree of freedom control structure (2-DOF) with a feed-forward and feedback terms. Feed-forward term represents a solution of trajectory generation problem and feedback term stands for a state controller. It also gives an overview of various ready-to-use numerical software solutions capable of solving OCP. It summarizes basic properties, licensing policy, approach and formulation of OCP. The thesis also shows the various verification methods used to determine the success and validity of the chosen method.