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Title: Design of a Digital Controller for Stabilization and Control of an Inverted Pendulum
Authors: Cunningham, James M.
Advisors: Littman, Michael G.
Department: Mechanical and Aerospace Engineering
Class Year: 2013
Abstract: This project focused on the design of a digital controller using an Arduino Duemilanove ATmega168. The controller was designed for use with the Quanser inverted pendulum system. It receives two encoder inputs and outputs an amplified, analog voltage for motor control. The encoder signals are processed through encoder-tocounter converters and recorded in a series of counters. The arduino receives and processes the position values. The controller was tested with the inverted pendulum problem. It effectively stabilizes the pendulum but experiences significant signal noise and some error in position tracking. Issues of sampling rate and efficient processing are considered in the design discussion.
Extent: 43 pages
Access Restrictions: Walk-in Access. This thesis can only be viewed on computer terminals at the Mudd Manuscript Library.
Type of Material: Princeton University Senior Theses
Language: en_US
Appears in Collections:Mechanical and Aerospace Engineering, 1924-2019

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