Inverted Pendulum

Abstract

The inverted Pendulum system is an example system in physics, dynamics, and control field. The center of mass of the Inverted Pendulum is about its pivot point and the Inverted Pendulum can be hung stably in its inverted position by using the control system to monitor the angle of the rod and moving the pivot point horizontally back below the center of gravity when the rod starts to fall over to maintain its balance. So, the purpose of this project is to repair a digital control for an inverted pendulum system which can keep the Inverted pendulum in a balanced position. We implement a system solution which includes a power supply that will generate power for the microcontroller and the cart motor. Also, this program will have a microcontroller that will meet the requirement for both hardware and software as this program will have a microcontroller that is able to communicate with the power supply and the cart motor by cables in order to give the instruction to the system. Also, the microcontroller should be capable of having a USB port in order to download the program. It will also be able to receive and send data to process encoder data and control the DC motor such that the inverted pendulum is balanced in an upright position.