000061249 001__ 61249
000061249 005__ 20170510132220.0
000061249 037__ $$aTAZ-TFG-2016-2688
000061249 041__ $$aeng
000061249 1001_ $$aBarrios Valero, Samuel
000061249 24200 $$aDesign and Implementation of a Furuta Pendulum Device for Benchmarking Non-Linear Control Methods
000061249 24500 $$aDesign and Implementation of a Furuta Pendulum Device for Benchmarking Non-Linear Control Methods
000061249 260__ $$aZaragoza$$bUniversidad de Zaragoza$$c2016
000061249 506__ $$aby-nc-sa$$bCreative Commons$$c3.0$$uhttp://creativecommons.org/licenses/by-nc-sa/3.0/
000061249 520__ $$aFuruta pendulum is an academic benchmark example for evaluating non-linear control algorithms. The main aim of this dissertation is to study this physical system, showing its dynamic model and several strategies for its control. An assortment of swing-up and upright control approaches is reported with its design and simulations. Besides, this document describes the project development which is being done at the FabLab of the Obuda University, whose objective is to design and manufacture a demonstration device that is capable to test and display various control strategies. Requirements and specications of the design, used tools and future work are described. The dissertation is structured in eight different chapters: (1) History of the Furuta pendulum, describing the origin of this system; (2) State-of-the-art in non-linear control, giving a background for the different control strategies; (3) Dynamic model of the Furuta pendulum; (4) Swing-up by energy control, based on the work of Astrom and Furuta; (5) Stabilizing local control, via full state feedback; (6) Hybrid control, which sums up the previous approaches; (7) Development project, which describes the work realized in the FabLab and (8) Conclusion, discussing the knowledge extracted from the development of this thesis.
000061249 521__ $$aGraduado en Ingeniería Electrónica y Automática
000061249 540__ $$aDerechos regulados por licencia Creative Commons
000061249 700__ $$aGalambos, Péter$$edir.
000061249 7102_ $$aUniversidad de Zaragoza$$bIngeniería Electrónica y Comunicaciones$$cTecnología Electrónica
000061249 7202_ $$aPérez Cebollada, Francisco José$$eponente
000061249 8560_ $$f666180@celes.unizar.es
000061249 8564_ $$s3004649$$uhttps://zaguan.unizar.es/record/61249/files/TAZ-TFG-2016-2688.pdf$$yMemoria (eng)
000061249 909CO $$ooai:zaguan.unizar.es:61249$$pdriver$$ptrabajos-fin-grado
000061249 950__ $$a
000061249 951__ $$adeposita:2017-05-10
000061249 980__ $$aTAZ$$bTFG$$cEINA