Conclusions

A working Inverted Pendulum (IP) prototype and a controller test-bed was successfully designed, analyzed and implemented. The prototype was a 2-D (planer motion) inverted pendulum mounted on a mobile car, which is driven by a PM-DC motor.

Controller platform using a digital signal processor from Microchip was successfully implemented. Different Control algorithms maybe easily coded using a standard C-Language in this platform.

A Proportional, Integral and Derivative (PID) Controller was designed and implemented into the system and it proved a success. Further tuning for the PID parameters is needed to perfect it. This could be a future project by itself.

Switching based speed Control of the PM-DC motor was implemented using PWM. The duty cycle values were generated by the control law and accordingly were passed down to the PM-DC motor to stabilize the system.

Finally, a digital signal processor (DSP) hands-on experience, which was an objective for this project, was attained. Full exposure to controller implementation proved to be invaluable throughout this quest.