Resumo:
The use of automatic control systems is found to be fully spread out through our daily use
in all the developed societies. Such systems work as catalyzing elements to promote the progress
and development.
The example of the Inverted Pendulum system is largely mentioned in books and
technical articles about feedback control loops, especially those intrinsically unstable, just like in
this work. The reason why such system is relevant for control system studies is that it illustrates
the difficulties associated with the application of control systems in the real world. For example,
the final model is much similar to those used for rockets stabilization, positioning of special
cranes, etc.
This study sought to create an inverted pendulum control system using simple analog
components, one practical application which allows the testing and benchmarking of different
control strategies. For this purpose a prototype was build using an old personal computer printer
frame. All the necessary electronic circuits were designed, mounted and tested using next-door
shop components. As a platform for developing the control algorithms, a personnel
microcomputer was required. Also a simulation and control software largely utilized by
Universities and technical schools was used. For interfacing the computer to the electronics there
was been used a low-cost commercial data acquisition board.
In modeling the system and in the control loop tuning phase, there had been used known
methods of the control theory. The practical results achieved were good enough indicating the
strength of the proposal of this present work.