Regulace inverzního kyvadla

Abstract

The diploma thesis deals with the design and implementation of the controller for physical model of linear inverted pendulum. The part of the work includes construction of the model with the aim of keeping the pendulum rod in vertical position. The thesis also contains derivation of its dynamic based on Lagrange equations and simulation of closed-loop step response. This analysis is then used to control the real physical model of inverted pendulum based on MATLAB&Simulink+RT Toolbox with measuring card MF624 and for programmable automation controller WinPAC-8000+REX Control system.