Desarrollo de un péndulo de Futura como herramienta didáctica para la aplicación de diferentes métodos de control regulatorio y control inteligente en la Universidad de Pamplona.

Abstract

During the reading of this degree work will go through different chapters which present specific topics for a particular area, but all with the same objective to show a system of inverted rotational pendulum or pendulum of Furuta with various control methods, but all with the same goal in common, balance the pendulum of the system in inverted equilibrium position. Mathematical modeling methods for this system, materials for the construction of an inverted rotational pendulum and the application of a controller to it are also presented. The electronics accompanying this system and a 3D animation with what would be an imitation of the inverted rotational pendulum for display. At the end the graphs show the result that the controllers express in the simulations made in simulink. It is important to mention the importance of control strategies within a system when testing new methods or techniques, the inverted rotational pendulum system is a module for academic purposes for study and analysis with complex dynamics to control, so it is used to analyze control systems