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undergraduate thesis
Simulacija obrnutog njihala
2019. urn:nbn:hr:168:942338
Dodigović, Dana
University of Zagreb
Faculty of Electrical Engineering and Computing

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Dodigović, D. (2019). Simulacija obrnutog njihala (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:942338

Dodigović, Dana. "Simulacija obrnutog njihala." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2019. https://urn.nsk.hr/urn:nbn:hr:168:942338

Dodigović, Dana. "Simulacija obrnutog njihala." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2019. https://urn.nsk.hr/urn:nbn:hr:168:942338

Dodigović, D. (2019). 'Simulacija obrnutog njihala', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 17 March 2025, https://urn.nsk.hr/urn:nbn:hr:168:942338

Dodigović D. Simulacija obrnutog njihala [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2019 [cited 2025 March 17] Available at: https://urn.nsk.hr/urn:nbn:hr:168:942338

D. Dodigović, "Simulacija obrnutog njihala", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2019. Available at: https://urn.nsk.hr/urn:nbn:hr:168:942338

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Metadata
TitleSimulacija obrnutog njihala
Title (english)Inverted pendulum simulation
AuthorDana Dodigović
MentorŽeljka Mihajlović (mentor)
Committee memberŽeljka Mihajlović (predsjednik povjerenstva)
Committee memberMarko Đurasević (član povjerenstva)
Committee memberHrvoje Nuić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2019-07-12, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Abstract
Sustav okrenutog njihala je jedan od čestih sustava koji se koriste u svrhu prikaza sustava upravljanja. Takav sustav je moguće proširiti iz dvodimenzionalnog prostora u trodimenzionalni uz povećanja složenosti poput okreljivosti zgloba i slično. Kako bi se mogli razumjeti složeniji koncepti u sklopu ovog rada je opisan osnovni model i prikazana simulacija okrenutog njihala na kolicima u modernom OpenGL-u uz implementaciju fizike iz dviju diferencijalnih jednadžbi drugog reda. Jednadžbe su riješene numeričkom metodom integracije Dormand-Prince. Implementirano je kretanje tipkovnicom i algoritmom gradijentnog spusta. Naglasak rada je, uz opis sustava, i programsko ostvarenje u jeziku C++.
Abstract (english)
Inverted pendulum system is a common system used for control demonstration. Such system is extendable from 2D space to 3D space with complexity enhancements such as adding rotary joint. With intention to understand more complex inverted pendulum systems, this thesis describes basic model with graphic simulation of inverted pendulum on cart. Graphics is implemented using modern OpenGL. Physics is described by two second-order differential equations and solved using Dormand-Prince method for numerical integration. Two types of movement are implemented: one is basic movement using arrow keys and other is based on gradient descent algorithm. Proposed inverted pendulum model is realized using C++ programming language.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:942338
Study programmeTitle: Computing
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva)
Type of resourceText
File originBorn digital
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Created on2020-01-07 17:38:04