Inverted Pendulum Modelling and Control

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dc.contributor.advisorKorsoveczki , Gyula
dc.contributor.authorGirgis, Peter Monier Meleka
dc.contributor.departmentDE--Műszaki Kar
dc.date.accessioned2025-09-04T16:47:24Z
dc.date.available2025-09-04T16:47:24Z
dc.date.created2024-04-30
dc.description.abstractThis thesis work explores the control of inverted-pendulum-type robotic systems using Lagrange dynamics, focusing on improving stability and response through advanced control strategies. Initially, a PID controller is utilized to analyze the system’s step response and disturbance reactions. Subsequently, a pole placement approach with full-state feedback is proposed, using Ackermann's formula to optimize the feedback gain matrix. Enhancements include refining the PID controller and applying state-space design techniques to better handle system uncertainties and disturbances. Practical simulations demonstrate that these methods significantly enhance system stability and response, affirming the superiority of the closed-loop state-space model over traditional control techniques.
dc.description.courseMechatronical Engineeringen
dc.description.degreeMSc/MA
dc.format.extent81
dc.identifier.urihttps://hdl.handle.net/2437/397330
dc.language.isoen
dc.rights.accessHozzáférhető a 2022 decemberi felsőoktatási törvénymódosítás értelmében.
dc.subjectRSIP system, State space model, PID, Design control, Ackerman’s formula, MATLAB/Simulink
dc.subject.dspaceEngineering Sciences
dc.titleInverted Pendulum Modelling and Control
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Theses (Department of Electrical Engineering and Mechatronics)