Implementation of Internet-based tele-operation techniques for the control of an inverted pendulum system

This research work is primarily motivated to examine a number of existing Internet-Based Tele-Operation techniques and develop a new technique for Internet-Based Tele-Operation of a control system. One approach is to use the MATLAB Web Server as it enables us to create MATLAB applications that use the capabilities of the World Wide Web to send data to MATLAB for computation and to display the results in a web browser. The work focuses on developing a web interface to send the controller gain values to MATLAB and obtain the results via the web. The application is a combination of MATLAB, Wincon scripting commands and Web Server scripting commands. The input gains from the web browser were called into the application using Web Server scripting commands and the code to assign the variables for the Inverted Pendulum System was executed, the results thus obtained were displayed in the web browser. A proportional velocity controller and a linear quadratic regulator were implemented to balance an inverted pendulum in upright position while maintaining the desired cart position.