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.

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