Controle de um pêndulo invertido sujeito a erros de comunicação

Abstract

This work has the objective of conceptualizing and simulating a control system, an objective of analyzing its performance performed with an inverted pendulum system subject to communication errors. Initially, a mathematical modeling of the system under study is presented, considering a linearized model around an operating point (formed between the pressure of the pendulum and the e axis) for small variations, later, a determination of the transfer functions is performed. After the theoretical foundation, the gains for the PID drivers of the rush angle and PD of the cart position are calculated, respectively, with an inverted pendulum system simulation fed back with both drivers (PID and PD) in the MatLab software. Then, gaussian noises are inserted in the feedbacks in order to approach the set under analysis in a wireless communication channel, in order to find the system operation limit.