Archivio Istituzionale della RicercaThe paper describes the control of an inverted pendulum mounted on a sliding cart. The actuation is performed by a double acting pneumatic cylinder connected with 2/2-way digital valves driven with PWM technique. The control architecture, composed by two closed loops in cascade, makes use of simple PID regulators and is implemented on an Arduino board. The test rig is developed to examine the ability of low cost pneumatic drives with digital modulation to control an inherently unstable system.
INVERTED PENDULUM STABILIZATION BASED ON ARDUINO DRIVE CONTROL / Colombo, F.; Marino, A.; Mazza, L.; Raparelli, T.. - In: INTERNATIONAL JOURNAL OF MECHANICS AND CONTROL. - ISSN 1590-8844. - 23:1(2022), pp. 105-113.
INVERTED PENDULUM STABILIZATION BASED ON ARDUINO DRIVE CONTROL
Colombo F.;Mazza L.;Raparelli T.
2022
Abstract
The paper describes the control of an inverted pendulum mounted on a sliding cart. The actuation is performed by a double acting pneumatic cylinder connected with 2/2-way digital valves driven with PWM technique. The control architecture, composed by two closed loops in cascade, makes use of simple PID regulators and is implemented on an Arduino board. The test rig is developed to examine the ability of low cost pneumatic drives with digital modulation to control an inherently unstable system.
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https://hdl.handle.net/11583/2972365