Design and development of a low-cost inverted pendulum for control education

Bakaráč, Peter; Kalúz, Martin; Čirka, Ľuboš

doi:10.1109/pc.2017.7976247

Cited by 7 publications

(5 citation statements)

References 14 publications

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“…In this way, the vision-based control method used in this work contributes to a comprehensive learning experience that melds theory, design, and practical implementation. An instructional design is presented based on the constructionist vision according to [11], which differs from other approaches [17][18][19]21,25] where a learning methodology was not defined. Moreover, in contrast to [27,28], this work integrates software and hardware to achieve a complete learning experience, providing a hands-on learning tool that addresses the gap between theory and practice, as evidenced in the literature [46].…”

Section: Discussionmentioning

confidence: 99%

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Design, Implementation, and Control of a Linear Electric Actuator for Educational Mechatronics

Nava-Pintor,

Carlos-Mancilla,

Guerrero-Osuna

et al. 2023

Machines

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Kinematics is a fundamental topic in engineering, robotics, mechatronics, and control systems and significantly resolves some of these fields’ most pressing issues. It is essential to assess the balance between a topic’s theoretical framework and its empirical validation to succeed in engineering. Educational tools have gained significant attention for their ability to enhance the learning experience by providing the hands-on experiences necessary to assess theoretical frameworks and empirical validations. This paper presents a system incorporating state-of-the-art features, including a fuzzy controller enabling precise control of a linear actuator and a USB camera, to provide an interactive experience. The USB camera captures the position of the actuator, providing real-time visual feedback and allowing the students to validate their theoretical understanding through practical experiments. Precision, accuracy, resolution, and the implementation of the fuzzy controller are measured to evaluate the whole system’s performance. The design, implementation, and control of our educational electrical linear actuator for teaching kinematics concepts contribute to a practical educational tool and advance interactive learning approaches in the field.

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Section: Discussionmentioning

confidence: 99%

“…A previous publication [19] discussed a cost-effective inverted pendulum explicitly created for use in CS education. The kit focused on controlling the inverted pendulum.…”

Section: Related Workmentioning

confidence: 99%

Design, Implementation, and Control of a Linear Electric Actuator for Educational Mechatronics

Nava-Pintor,

Carlos-Mancilla,

Guerrero-Osuna

et al. 2023

Machines

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“…The learning process consists in visiting a large number of states and taking various actions, and to compute the reward expectation (6). However, it is usually time consuming and very difficult, if not impossible, to travel through all the states and actions to accurately determine the action-value function Q(s, a), as it is necessary to sample the state and the action spaces to accumulate statistics for the rewards.…”

Section: Controlling the Pendulum Using Reinforcement Learningmentioning

confidence: 99%

“…In addition, given the simplicity required to build an experimental prototype, cart-pole systems are very well-suited for teaching a wide variety of topics, ranging from Lagrangian mechanics to control theory. Indeed, the literature includes numerous examples of low-cost pendulums designed and built with the purpose of teaching one or more subjects to undergraduates [4][5][6].…”

Section: Introductionmentioning

confidence: 99%

Reinforcement learning approach to control an inverted pendulum: A general framework for educational purposes

Israilov

Sánchez-Rodríguez

et al. 2023

PLoS ONE

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Machine learning is often cited as a new paradigm in control theory, but is also often viewed as empirical and less intuitive for students than classical model-based methods. This is particularly the case for reinforcement learning, an approach that does not require any mathematical model to drive a system inside an unknown environment. This lack of intuition can be an obstacle to design experiments and implement this approach. Reversely there is a need to gain experience and intuition from experiments. In this article, we propose a general framework to reproduce successful experiments and simulations based on the inverted pendulum, a classic problem often used as a benchmark to evaluate control strategies. Two algorithms (basic Q-Learning and Deep Q-Networks (DQN)) are introduced, both in experiments and in simulation with a virtual environment, to give a comprehensive understanding of the approach and discuss its implementation on real systems. In experiments, we show that learning over a few hours is enough to control the pendulum with high accuracy. Simulations provide insights about the effect of each physical parameter and tests the feasibility and robustness of the approach.

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“…This process was chosen mainly because of its fast dynamics, thus to test the efficiency of the homomorphic crypto schemes with different setup parameters. The behavior of the inverted pendulum is described by discrete time state space model derived from nonlinear model [43] for the sampling period T s = 0.05 s and defined as x x x k+1 = Ax x x k + Bu k (29) where matrices A and B are defined as We present control strategy with the LQR controller using the homomorphic encryption properties to compute the state feedback control action respecting the control law…”

Section: A Lqr Controlmentioning

confidence: 99%

Guidelines for Secure Process Control: Harnessing the Power of Homomorphic Encryption and State Feedback Control

Furka,

Kalúz,

Fikar

et al. 2023

IEEE Access

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The paper presents applications of homomorphic cryptographic schemes in process control. Homomorphic encryption is a particular type of encryption that allows performing mathematical operations over encrypted data. Therefore the user can use third-party services as controllers without revealing any vulnerable information, like process data. Homomorphic properties make it possible to perform data aggregation or evaluate control actions without having any knowledge about the process data. Our paper explores two fully homomorphic cryptographic schemes, namely Brakerski/Fan-Vercauteren (BFV) and Cheon-Kim-Kim-Song (CKKS) cryptosystems. Each scheme is briefly described with its advantages and drawbacks, conditions, and applications. We present a case study involving linear-quadratic (LQ) control strategy implemented in an encrypted setup. This serves for comparison and a step-by-step guide for implementing encrypted process control.

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Design and development of a low-cost inverted pendulum for control education

Cited by 7 publications

References 14 publications

Design, Implementation, and Control of a Linear Electric Actuator for Educational Mechatronics

Design, Implementation, and Control of a Linear Electric Actuator for Educational Mechatronics

Reinforcement learning approach to control an inverted pendulum: A general framework for educational purposes

Guidelines for Secure Process Control: Harnessing the Power of Homomorphic Encryption and State Feedback Control

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