Balance Control System Using Microcontrollers for a Rotational Inverted Pendulum

The paper proposes a low cost solution of the balance/stabilizing system for a rotational inverted pendulum. The hardware implementation consists in a multiple microcontroller platform. Due the plant complexity a fuzzy-PD control algorithm was designed and tested to maintain the pendulum in the unstable upright position. In order to increase the computing speed a I2C master-slave network was chosen for the communication between the components of the control loop. The evolutions of the functional signals are recorded and monitorized by a Labview Interface via RS232 serial communication.