Available at: https://digitalcommons.calpoly.edu/theses/2963
Date of Award
6-2023
Degree Name
MS in Aerospace Engineering
Department/Program
Aerospace Engineering
College
College of Engineering
Advisor
Paulo Iscold
Advisor Department
Aerospace Engineering
Advisor College
College of Engineering
Abstract
This thesis presents a modular, low-cost, prototype inverted pendulum platform for undergraduate Aerospace control theory research and education. The platform's default configuration integrates a propeller and reaction wheel as its actuators, with multiple sensors available to measure the pendulum's states. The platform utilizes open-source software and hardware to power the actuators, and uses MATLAB/Simulink to streamline data collection. System identification techniques are applied to the platform, and the mathematical model of the pendulum is verified. Momentum exchange between the reaction wheel and propeller during closed-loop stabilization of the pendulum is demonstrated.