Date of Award

2017

Degree Type

Thesis

Degree Name

Master of Science in Electrical Engineering (MSEE)

Department

Electrical, Computer, and Biomedical Engineering

First Advisor

Richard J. Vaccaro

Abstract

This thesis develops a test platform for a control problem.

The inverted pendulum is selected as a well-established control problem. It is representative of an unstable nonlinear system which may remain balanced using any of several methods. Once balancing is achieved, multidimensional maneuvering is added as a supplemental control objective.

To approach the control problem hardware is selected which is then characterized and simulated, and then operated while communicating operational data.

The thesis provides a detailed description of the approaches to:

  • Selecting the hardware.
  • Characterizing the hardware.
  • Developing a functioning controller.
  • Simulating the results.

Additionally, a modular test platform is developed such that additional control approaches or characterization models could be implemented and hot-swapped.

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