Qube - Inverted Pendulum Position Control

The Quanser Qube-Servo 3 is a portable, fully integrated servomotor platform designed specifically for teaching control concepts at the undergraduate level. The system is equipped with a high-quality direct-drive brushed DC motor, two encoders, an internal data acquisition system, and an amplifier. Connect with USB to a Windows PC. A a quick-connect inverted-pendulum module enables the conduction of experiments on position control for the pendulum.

Control techniques studied:

• System Modeling & Simulation
• System Identification
• Position & Speed Control
• Disturbance Rejection
• Steady-state Error
• Tracking Control & Regulation
• PD Controller Design
• Lead / Lag Compensation
• State-Feedback
• Frequency Analysis
• Phase & Gain Margin
• Root Locus Design
• Nyquist Stability
• Routh-Hurwitz stability
• Discrete Time Sampling
• Digital control