Background
The project that this project-plan describes is part of a project course in automatic control, given by the Department of signals, sensors and system (S3) at the Royal Institute of Technology in Stockholm. The project this project group was assigned to was the pendulum project and the group received an order for a demonstration of the pendulum process from Karl Henrik Johansson at S3.
The pendulum process consists of an inverted pendulum, where the swinging motion is generated by an inertia wheel. The project group is to develop and implement a controller that stabilizes the pendulum in an upright position. The controller is implemented on a digital signal processor and integrated with the pendulum.
The main objective of this project is to make it possible to stabilize a pendulum in an upright position using a controller. This main objective will be achieved by reaching a number of part objectives such as modelling the system, designing the controller, implementing the controller and finally testing the controller. The project is going to be concluded on May 19 2006. This is the deadline for presenting all the results of the project to the customer.