Mekatronik Mühendisliği Bölümü Tezleri

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    Citation Count: Fatma Nur Şen (2019). Design and implementation of control algorithms for stabilization of rotary inverted pendulum / Döner ters sarkaç sisteminin stabilizasyonu için kontrol algoritmalarının tasarımı ve uygulanması. Yayımlanmış yüksek lisans tezi. Ankara: Çankaya Üniversitesi, Fen Bilimleri Enstitüsü.
    Design and implementation of control algorithms for stabilization of rotary inverted pendulum
    (2019) Şen, Fatma Nur; Çankaya Üniversitesi, Fen Bilimleri Enstitüsü, Mekatronik Mühendisliği Bölümü
    Rotary Inverted Pendulum is a popular test-bed in control theory applications as it has a nonlinear characteristics and unstable structure. To drive the pendulum to upright position and holding the stick of the pendulum stabilized in that condition is one of the important benchmark problems in control theory. Generally, the control structure of this system consists of two modes. The first mode is known as the swing up mode where the pendulum is brought into nearly upright position from a stand still downward orientation. The second control mode is called as hold mode and it switches the swing up mode when the pendulum is in an epsilon neighborhood of the upright position and its aim is to stabilize the pendulum and keeping it motionless at this condition. The intention in this thesis is developing hold mode control structures integrating the State Feedback Control, Routh Hurwitz method and Genetic Algorithms. Keywords: Rotary Inverted Pendulum, Genetic Algorithm, State Feedback, Routh Hurwitz, Multi Criteria Optimization.