Embeded system을 적용한 Rotary Inverted Pendulum 설계 및 PID에 의한 구현

Design of Rotary Inverted Pendulum applying an Embedded System and Implementation by PID

  • 김영춘 (한국해양대학교 전자통신공학과) ;
  • 김정훈 (한국해양대학교 Fuzzy-Neuro laboratory) ;
  • 김영탁 (한국해양대학교 Fuzzy-Neuro laboratory) ;
  • 김동한 (한국해양대학교 Fuzzy-Neuro laboratory)
  • 발행 : 2002.06.01

초록

In this paper, we applied a PC interface and an embedded system in order to design a non-linear system and implement the PID algorithm as our control one. We used the inverted pendulum, one of the most generally used non-linear system models, to control uncertain factors in the environment. This paper showed how to use this non-linear system model to control the factors completely as well as to understand the PID algorithm. Furthermore, this paper applied and understood the embedded system.

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