Skip navigation
Please use this identifier to cite or link to this item:
Full metadata record
DC FieldValueLanguage
dc.contributor.advisorLittman, Michael G.-
dc.contributor.authorCunningham, James M.-
dc.description.abstractThis 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.en_US
dc.format.extent43 pagesen_US
dc.titleDesign of a Digital Controller for Stabilization and Control of an Inverted Pendulumen_US
dc.typePrinceton University Senior Theses-
pu.departmentMechanical and Aerospace Engineeringen_US
dc.rights.accessRightsWalk-in Access. This thesis can only be viewed on computer terminals at the <a href=>Mudd Manuscript Library</a>.-
Appears in Collections:Mechanical and Aerospace Engineering, 1924-2020

Files in This Item:
File SizeFormat 
Cunningham_IWReport.pdf918.44 kBAdobe PDF    Request a copy

Items in Dataspace are protected by copyright, with all rights reserved, unless otherwise indicated.