70 lines
2.7 KiB
TeX
70 lines
2.7 KiB
TeX
% This is a simple sample document. For more complicated documents take a look in the exercise tab. Note that everything that comes after a % symbol is treated as comment and ignored when the code is compiled.
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\documentclass{article} % \documentclass{} is the first command in any LaTeX code. It is used to define what kind of document you are creating such as an article or a book, and begins the document preamble
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\usepackage[a4paper,top=2cm,bottom=2cm,left=2cm,right=2cm,marginparwidth=1.75cm]{geometry}
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\usepackage{amsmath} % \usepackage is a command that allows you to add functionality to your LaTeX code
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\usepackage{multicol}
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\usepackage{textcomp}
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\usepackage{graphicx}
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\usepackage{float}
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\title{
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Single inverted pendulum\\~\
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\large{Modeling and Control course}
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}
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\author{Arne van Iterson} % Sets authors name
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\date{\today} % Sets date for date compiled
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% The preamble ends with the command \begin{document}
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\begin{document} % All begin commands must be paired with an end command somewhere
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\maketitle % creates title using information in preamble (title, author, date)
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\begin{abstract}
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Very interesting Introduction
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\end{abstract}
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\begin{multicols}{2} % creates two columns
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% Theory
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\section{Theory}
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The system that will be discussed in this paper is a single inverted pendulum. Common implementations of this system include a cart, this is not the case in this paper.
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\begin{figure}[H]
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\includegraphics[width=\linewidth]{../res/segway.jpg}
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\caption{Segway\textsuperscript{\tiny\textregistered} in use}
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\label{fig:segway}
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\end{figure}
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A practical example of this system is a Segway\textsuperscript{\tiny\textregistered} (figure \ref{fig:segway}). The system is inherently unstable, meaning that if the pendulum is not controlled, it will fall over.
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% Hardware setup
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\section{Setup}
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To simplify hardware design, the system will be built and run on a LEGO\textsuperscript{\tiny\textregistered} Mindstorms EV3 development kit. The programmable brick itself, which will be referred to as "EV3", runs a Linux distribution known as ev3dev. Ev3dev allows for various programming languages to be used including Python and C. Both of which will be further explained later.
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To reproduce the robot in Figure \ref{fig:balancer}, please refer to the building instructions in the appendix.
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\begin{figure}[H]
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\includegraphics[width=\linewidth]{../res/bricklink/modcon_balancer2.png}
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\caption{Balancing robot}
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\label{fig:balancer}
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\end{figure}
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\section{Model}
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\subsection{Linearisation}
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\section{Control}
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\section{Validation}
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\section{Conclusion}
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\end {multicols}
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\end{document} % This is the end of the document
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