Diseño e implementación de un sistema de péndulo invertido para la enseñanza de conceptos de control en ingeniería, a través del método de variables de estado

Abstract

In this work, we develop a functional prototype of a circular path inverted pendulum. The work has been done as a part of a research project by the researching group IDEAS at Universidad Distrital as a tool for teaching control concepts in the engineering programs. We present the system design and implementation, together with the selection of components and materials to build it. We also present the system dynamics, its linearization and parameters stimation. We describe some controllers design for the prototype, which includes state feedback, type-1 and type-2 fuzzy and CBR interval type-2 fuzzy controllers, and in order to improve the fuzzy controllers performance all their parameters where optimized. Finally, we created a manual, which includes procedures for system maintenance and reparation, and laboratory manuals, where we defined some objectives for the students to achive and, separed from that, the instructor can also count on the expected results of the experiments.