Louisiana Tech University

Department of Electrical Engineering

EE 479 Controls Lab, Fall 1997

Inverted Pendulum Project Report

and PID Control Parameter Determination

Report Requirements

1. A complete description of the inverted pendulum system will begin the report. The EE471 Design Project Web Site will be your primary source of information.
2. Each person must ask a group at least one question pertaining to the project that isn't answered on the web site and isn't trivial. Someone in the group queried must respond. All questions must be emailed using the Members web page by clicking on the group link. All responses must be emailed to all members of the project. The question must be included in the response. A questions and answers page will be added to the project web site. This is the last chance for you to rectify your noncompliance with the documentation requirements portion of the project.
3. Using the state equations given, the parameters found on "Some Physical Measurements" web page, and using the technique found at http://www.ee.duke.edu/~lgb/ee141/tutorial/examples/pend/invPID.html you must determine the transfer function for the system and the transfer function with PID control.

   

   

   I and l are available from Group 1. b is the coefficient of friction and is equal to 0.095.

4. Using Matlab, determine the PID tuning parameters that will meet the design criteria given in invPID.html.
5. Reports must be computer generated.

A Note On Grading

Your description of the system must be complete. Any omission will be brutally penalized. Intelligently determining the PID tuning parameters (not simply trial and error) will result in extra points (max. 100 total points) since this will indicate you've actually learned something in EE471 and EE479.