本文旨在建立一套Pendubot倒單擺甩上切換與垂直穩定控制系統，使用電位計量測倒單擺甩上時之角度姿態，藉以判斷切換至影像伺服以達成倒單擺之平衡穩定。甩上控制以能量法設計實現，穩定控制則以PID結構結合係數圖法(Coefficient Diagram Method)進行參數設計，其中影像伺服藉由影像動態輪廓追蹤搭配多邊形擬合法估測倒單擺姿態，實時計算倒單擺擺角，並採用ARM-Based的STM32F4晶片與電腦進行串列傳輸即時估測角度。最後透過實體實驗以驗證本文之分析與設計結果。

This article aims to establish a Pendubot system with swing-up and stabilization control. Using potentiometer to measure the angle of the inverted pendulum when it is swinging up, and determine whether to switch to visual servo to achieve stability of the inverted pendulum. The swing-up control is designed and realized by the energy method. The stabilization control is designed by PID structure combined with the coefficient diagram method for parameter design. The visual servo uses dynamic image tracking and polygon fitting method to estimate the pendubot posture. At the same time, the angle is calculated, and then transmitted to the Cortex-M4 chip for control. Finally, experiments are conducted to verify the analysis and design results of this article.

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