Consider the inverted pendulum mounted to a motor, as shown in Figure API 1.10. The
Chapter 0, Problem AP11.10(choose chapter or problem)
Consider the inverted pendulum mounted to a motor, as shown in Figure API 1.10. The motor and load are assumed to have no friction damping. The pendulum to be balanced is attached to the horizontal shaft of a servomotor. The servomotor carries a tachogenerator, so that a velocity signal is available, but there is no position signal. When the motor is unpowered, the pendulum will hang vertically Motor Q Tachometer A. Tachometer output FIGURE AP11.10 Motor and inverted pendulum. downward and, if slightly disturbed, will perform oscillations. If lifted to the top of its arc, the pendulum is unstable in that position. Devise a feedback compensator Gc(s) using only the velocity signal from the tachometer.
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