Pêndulo de furuta como um instrumento didático para disciplina de controle moderno

Abstract

Enhancing Hands-On Learning in Engineering: The Furuta Inverted Pendulum as a Teaching Tool

Emphasizing the importance of learning by doing in engineering courses, this paper presents the Furuta inverted pendulum as an effective teaching tool for control systems courses, particularly modern control. This system, characterized by its nonlinear and underactuated structure, provides a challenging yet valuable opportunity for students to apply key concepts of complex dynamic systems, such as controllability, observability, and stability.

The project begins with a detailed mathematical modeling of the system, allowing for the extraction of state equations and the analysis of its dynamic properties. This step enables computer-based simulations to predict system behavior before applying the theory in a real-world setting. With the system's properties well understood, a state-feedback controller is designed to keep the pendulum balanced in the upright position, even in the presence of small external disturbances.

Additionally, building a physical version of the Furuta inverted pendulum allows students to see the theoretical concepts put into practice, compare results, and understand key differences between computational models and real-world systems. This hands-on approach fosters an active learning environment that not only improves understanding of dynamic system behavior but also equips students with practical skills to tackle real-world engineering challenges.