Design, Modelling and Experimental Validation of a PLC-Driven Inverted Pendulum
Ogaga, Davis Ufuoma (2025)
2025
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Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi:amk-2025121536203
https://urn.fi/URN:NBN:fi:amk-2025121536203
Tiivistelmä
This thesis presents the design, modelling, control development, and industrial implementation of a single-link inverted pendulum using the PLCnext AXC F 2152 automation platform. The mechanical system was fully assembled, and all physical parameters were measured and incorporated into a linearised state-space model. An LQR stabilisation controller was designed analytically and validated through MATLAB simulations, achieving fast settling time, stable closed-loop behaviour, and control effort within actuator limits.
The PLCnext system, Axioline I/O modules, encoder interfaces, and Structured Text control program were successfully configured and prepared for deployment. However, experimental stabilisation of the pendulum could not be achieved due to unresolved encoder feedback instability, which prevented reliable state measurement and safe execution of the controller on hardware. Despite this limitation, the modelling, simulation, and PLC implementation were successfully completed, and the platform is ready for final validation once encoder signal integrity is restored.
The project therefore meets the objectives related to system construction, modelling, controller development, simulation, and PLC implementation, while the final objective of physical stabilisation remains dependent on resolving sensor feedback issues. The thesis provides guidelines and documentation to support future experimental commissioning and educational use of the platform.
The PLCnext system, Axioline I/O modules, encoder interfaces, and Structured Text control program were successfully configured and prepared for deployment. However, experimental stabilisation of the pendulum could not be achieved due to unresolved encoder feedback instability, which prevented reliable state measurement and safe execution of the controller on hardware. Despite this limitation, the modelling, simulation, and PLC implementation were successfully completed, and the platform is ready for final validation once encoder signal integrity is restored.
The project therefore meets the objectives related to system construction, modelling, controller development, simulation, and PLC implementation, while the final objective of physical stabilisation remains dependent on resolving sensor feedback issues. The thesis provides guidelines and documentation to support future experimental commissioning and educational use of the platform.