| In this thesis, a controller for an inverted pendulum system is designed, and the controller is implemented with an experimental rig---Bytronic Pendulum Control System---developed by Bytronic International Ltd. At the first stage, the nonlinear model of the inverted pendulum is built. Since the system is driven by a servomotor, its dynamics can be considered as a part of the system. It is assumed that the servomotor is a second-order linear system that it can be identified by a system identification tool. Next, input-output linearization method is applied to the nonlinear model of the inverted pendulum in order to design a feedback controller that balances the pendulum at the top position. Then, the sample rate for digital control is constrained to signal time lag and the bandwidth of the closed loop system. Finally, the performance of the controlled system is discussed. |
