Investigation of the Problem of Stabilisation of the Overturned Equilibrium Position of the Furuta Pendulum

Research goal: Investigation of the problem of' stabilisation of' the overturned equilibr ium position of the Furuta Pendulum Tasks to be solved in WRC / Research tasks: (1) Analvtical! review of incomplete-drive robots, their model representations and structural properties. (2) Analysis of kinematics and dynamic properties of incomplete-drive robots. (3) Research methods and control algorithms for incomplete-drive robots. (4) Synthesis of a control algorithm for stabilising F uruta's pendul um relative to an unstable overtumned equilibrium position. Experimental modelling. (5) Analysis of dynamic properties and qualitative indicators of the obtained svstem. The aim of this final qualification work is to investigate incompletely driven systems, analyse their dynamic properties and control methods. Furuta's pendulum is investigated as an example of an incompletely driven system. In the work the model of the system is compiled, the control algorithm is synthesised, mathematical modelling in Simulink MATLAB environment is carried out.