By Sean Hendrix, Oklahoma State University
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OverviewIn this experiment you will use state variable feedback, with gains set using pole positioning, to control a Furuta pendulum (also known as a Rotary Inverted Pendulum.) You will first create a nonlinear Simulink model based on the equations of motion for the Furuta Pendulum. From the Simulink model you will find a linearized model. You will verify both the linear and nonlinear models and then design a linear state feedback controller using pole positioning. The closed loop linear and nonlinear models will be simulated to verify adequate performance. After completing the simulations, the controller will be loaded to the Arduino, and the experimental data will be captured from the serial port and compared with the simulations. Click on the Handout PDF link in the right sidebar to download the Experiment Handout. It describes all of the steps you will need to perform to complete the experiment. If you click on the Hardware/Parts link in the right sidebar, you will find a list of all parts needed to perform this experiment and places to order them. Files needed for 3-D printing can be found by clicking on the 3-D Printer Files link. Software that you will need to run the experiment is available from the Software/Code link What You Will LearnThis experiment will give you insights into the design of state variable feedback control systems, using pole positioning. You will also learn about the capabilities and limitations of linear modeling and control design, when applied to a practical, real-world (nonlinear) system. PrerequisitesBefore running this experiment, you should perform the following experiment: Simple DC Motor, Sampling and Data Acquisition, Introduction to 3D Printing, Open Loop Step Response (Only the Hardware Setup Section, Steps 1-23). |
Handout PDFHardware/PartsSoftware/Code3-D Printer Files |