2025-04-012025-04-012023-12-15OLIVEIRA, Alexandre Montibeller de. Controle de robô pêndulo invertido sobre duas rodas por abordagem analítica e experimental. Orientador: Raphael Barros Teixeira. 2023. 117 f.Trabalho de Conclusão de Curso (Bacharelado em Engenharia Elétrica) – Faculdade de Engenharia Elétrica, Campus Universitário de Tucuruí, Universidade Federal do Pará, Tucuruí, 2023. Disponível em: https://bdm.ufpa.br/jspui/handle/prefix/7935. Acesso em:.https://bdm.ufpa.br/jspui/handle/prefix/7935This work investigated the outcomes of implementing, in practice, an analytical and an experimental method for the angular position control of a two-wheeled inverted pendulum robot constructed in the laboratory of UFPA (Federal University of Pará), Tucuruí campus. The control objective was to maintain the robot in vertical balance in a steady state. The analytical method involved modeling the system using state-space representation and designing a controller through pole relocation with a state observer. The theoretical aspect of this method was developed based on the parameters of the UFPA laboratory robot. The contribution of this work was to implement this theory on the robot and analyze the results. The experimental method consisted of tuning a PID controller based on frequency response proposed by Ziegler-Nichols. The materials and methodologies used to adapt the physical configuration of the robot chassis, its electromechanical components, fixing elements, and the control algorithm were presented in this study. The objective was to find a balance, allowing the open-loop robot to remain closer to the 0° operating point for a longer time and, in closed-loop, preventing abrupt variations in the pendulum’s angular position due to the application of small torque values by the motors. The integration of the robot’s hardware with the control logic on Arduino through the Integrated Development Environment (IDE) platform was also described for both the analytical and experimental methods. The analytical method did not exhibit the expected behavior, proving ineffective in controlling the robot’s angular position, necessitating further research for its potential application. As for the Ziegler-Nichols experimental method, permanent equilibrium for the robot was achieved; however, it did not provide a more in-depth understanding of the system dynamics or the definition of more specific design requirements.Acesso AbertoRobô pêndulo invertido sobre duas rodasEspaço de estadosObservador de estadosZiegler-NicholsInverted pendulum robot on two wheelsState-spaceState observerCNPQ::ENGENHARIAS::ENGENHARIA ELETRICA::ELETRONICA INDUSTRIAL, SISTEMAS E CONTROLES ELETRONICOS::CONTROLE DE PROCESSOS ELETRONICOS, RETROALIMENTACAOTrabalho de Curso - Graduação - Monografia