Development of a Virtual Platform for Rotary Inverted Pendulum Controlling

Abstract

Higher education sector is currently moving back towards onsite teaching/learning environment. And most of the universities are adapting some online teaching methods to enhance learning experience of students. Though hands-on experience is delivered through practical classes in physical mode, for control systems engineering undergraduates, it is important to understand the basics through interactive learning. As virtual platforms are well known for providing opportunity for interactive learning, this study was focused on developing a virtual platform, based on a commonly used Rotary Inverted Pendulum System. To benefit students from all the levels, Linear Time Invariant Model, Nonlinear Model and the actual model was considered for the study. LQR controller gains were derived based on the mathematical model, and further modifications were done to produce a Linear Time Invariant model closer to the prototype. Both linear and nonlinear models were observed after applying same LQR gains and the prototype was applied with gains derived for the physical system. The virtual platform visually presents the behavior of the nonlinear model. This platform can be used as a tool for students at every level as it does not require to install any additional software, other than widely used Matlab. Thus, this would be an effective tool to be used along with onsite teaching / learning environment.