Reference no: EM132699203
20WSC341 Digital and State Space control - Loughborough University
Observer-Based Control of an Inverted Pendulum
Assignment Particulars
The task for the assignment is to design and test an Observer-based, multi-objective controller for an inverted (‘Furuta') pendulum.
The assessment will be in the form of a 10-page technical report. This limit does not include cover sheet, contents pages, references, etc. Appendices are accepted, but only where appropriate supporting information is necessary. All directly referred to figures and key results should, as standard, appear in the main body. The report should demonstrate the observer-based control solution, and include supporting evidence/discussion to assure that the results and design is appropriate. The font size should be a minimum 10pt and line spacing at a minimum of 1.15. Margins must be a minimum of 2 cm, excluding headers and footers.
Document MUST be submitted as pdf versions by the deadline.
The document should include details for the following steps:
• Development and validation of a linear ‘design' model for the pendulum
• Design and validation of a state-controller to follow a ‘square wave' angle demand for the motor arm
• Design and validation of an Observer to estimate all states when only position outputs are available
• Design and validation of an Observer-based controller, to implement a full state control when only position states are available for measurement
A summary of your design work, including items such as: calculations, figures, graphs, copies of key MATLAB commands and Simulink diagrams should be included in your report.
Learning Objectives
By the end of this coursework, you will be able to:
• Develop and test linear State Space system models of non-linear systems in MATLAB/Simulink
• Validate linear system models using time-based methods
• Implement a state control scheme using an LQR design or other design method
• Understand the complete process required to develop and implement a state-feedback controller
• Implement a Luenberger observer to estimate system states
Attachment:- Digital and State Space control.rar
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20WSC341 Digital and State Space control Assignment
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