{"id":268,"date":"2017-02-15T15:41:48","date_gmt":"2017-02-15T17:41:48","guid":{"rendered":"http:\/\/sites.usp.br\/lca\/?page_id=268"},"modified":"2019-04-09T17:36:43","modified_gmt":"2019-04-09T19:36:43","slug":"pendulo-invertido-rotacional","status":"publish","type":"page","link":"https:\/\/sites.usp.br\/lca\/en\/projetos\/pendulo-invertido-rotacional\/","title":{"rendered":"Inverted Rotary Pendulum"},"content":{"rendered":"<p><span class=\"gmail_msg\">The inverted rotary pendulum, also known as Furuta Pendulum, is a classic example of control in which the system has only one actuator and two degrees of freedom. The actuator used in this system is a motor coupled to an axis commonly called as arm. The two degrees of freedom are the angular displacement of the arm and the angular displacement of a pendulum, which has free rotational movement. <\/span><\/p>\n<p><span class=\"gmail_msg\">The main objective of the control system is to drive the motor in such a way that its torque would balance the pendulum in inverted position. For the control loop programming, a NXP FRDM-K64F development platform was used to implement a LQR digital control. A Swing-Up logic was also implemented, which consists of a series of torque commands to bring the pendulum from its rest position to the inverted position.<\/span><\/p>\n<p>https:\/\/youtu.be\/Bpq9xMO0NkY<\/p>","protected":false},"excerpt":{"rendered":"<p>The inverted rotary pendulum, also known as Furuta Pendulum, is a classic example of control in which the system has only one actuator and two degrees of freedom. The actuator used in this system is a motor coupled to an axis commonly called as arm. The two degrees of freedom are the angular displacement of&hellip;<\/p>\n","protected":false},"author":436,"featured_media":278,"parent":62,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":"","_links_to":"","_links_to_target":""},"class_list":["post-268","page","type-page","status-publish","has-post-thumbnail","hentry","post"],"_links":{"self":[{"href":"https:\/\/sites.usp.br\/lca\/en\/wp-json\/wp\/v2\/pages\/268","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/sites.usp.br\/lca\/en\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/sites.usp.br\/lca\/en\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/sites.usp.br\/lca\/en\/wp-json\/wp\/v2\/users\/436"}],"replies":[{"embeddable":true,"href":"https:\/\/sites.usp.br\/lca\/en\/wp-json\/wp\/v2\/comments?post=268"}],"version-history":[{"count":3,"href":"https:\/\/sites.usp.br\/lca\/en\/wp-json\/wp\/v2\/pages\/268\/revisions"}],"predecessor-version":[{"id":271,"href":"https:\/\/sites.usp.br\/lca\/en\/wp-json\/wp\/v2\/pages\/268\/revisions\/271"}],"up":[{"embeddable":true,"href":"https:\/\/sites.usp.br\/lca\/en\/wp-json\/wp\/v2\/pages\/62"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/sites.usp.br\/lca\/en\/wp-json\/wp\/v2\/media\/278"}],"wp:attachment":[{"href":"https:\/\/sites.usp.br\/lca\/en\/wp-json\/wp\/v2\/media?parent=268"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}