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Controlling an Inverted Pendulum using FLEX with Scilab/Scicos |
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At SUPSI (Scuola Universitaria Professionale della Svizzera Italiana), Lugano, Switzerland, an Inverted Pendulum was controlled using FLEX board with Scilab/Scicos.
The FLEX Base Board and the FLEX Multibus Board with a CAN module was used for swinging-up and maintaining the inverted equilibrium. The Source code was entirely generated using Scilab/Scicos , an automatic code generator for control systems. Both the controller-observer pairs were implemented with 2 discrete transfer functions: Motion
| Controller
| Observer
| | Swing-up | a state controller with integral part and anti-windup for state feedback gains | a reduced state observer for calculating missing states | | Inverted equilibrium | an LQR state controller for state feedback gains | a reduced state observer for calculating missing states |
Authors
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(Scuola Universitaria Professionale della Svizzera Italiana)
Software
Hardware
- FLEX Multibus Base Daughter Board
Download
Schematic figures
External links
http://web.dti.supsi.ch/~bucher/
Demo video
dsPIC Scilab/Scicos Inverted Pendulum |
