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Inverted pendulum control system project

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The Inverted Pendulum system shown in Figure 1 below consists of several parts. The equations of motion for the inverted pendulum system are highly nonlinear. Consequently a unique method of controlling the system had to be derived since most control theory is based on a linear system.

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Inverted Pendulum — Case*. "Have you ever thought about that? As a control engineering student in the past, before designing a controller for a system I always do a system modeling by implementing the mathematical model that best represents the system.

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and controllers for the one-bar and the two-bar case are developped. Also, a neural network for the task of controlling the inverted pendulum was trained. 1 Task of the interdisciplinary project The project was done by two computer science students and the project was supervised by Professor Rentrop, chair of numerical mathematics at TU Mun¨ chen.

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