Inverted Pendulum
In a team of five, we worked to develop and implement a control algorithm to control a Quanser Qube Servo 2 with a pendulum attached.
I worked on the development of the controllers in Matlab and then implementation of a PID and LQR controllers onto the Arduino.
In this project our team had two goals. The first goal was being able to force the motor to track the movement of a sinusoidal, square, and triangular wave while the pendulum was facing downward.
The second goal was being able to force the motor to track the movement of the same signals, but this time while making sure the pendulum was balanced upright.
We achieve this result using three different controllers: an continuous PID and LQR controller along with a discrete LQR controller. The controllers were developed in Matlab, for the continuous controllers a continuous plant model with a zero-order hold. The discrete plant was made using a discretized plant model.
The controllers were all executed on Matlab and then were implemented and executed by an Arduino.