COMPUTER-BASED CONTROL ASSIGNMENT DIGITAL-CONTROL OF AN INVERTED PENDULUM

This paper describes an assignment study that is undertaken by undergr aduate students who have elected to study the digital/state-space cont rol module as part of their Electrical and Electronic Engineering degr ee course at Heriot-Watt University. The assignment is based around th e inverted pendulum example and uses the computer package MATLAB/SIMUL INK. An advantage of the way the assignment is structured is that uniq ue solutions do not exist for the choice of the compensator, sample ra te and discretisation method.