연세대학교,전력및제어공학실험, 제어실험 5주차

목차

1. Design of A PID Controller For An Inverted Pendulum
1) OBJECT
2) THEORY
3) DISCUSSION

2. Design of A Controller For Inverted Pendulums Using State-Feedback & Observer
1) OBJECT
2) THEORY
3) DISCUSSION

본문내용

1.OBJECT
- Design a PID controller which control the cart to position of zero and the pendulum to angle of perpendicular.
- Verify the designed PID controller by simulation and experiments.
- Tune the PID parameters and make better PID controller.

2. THEORY
- Nonlinear model of the pendulum system

< 중 략>

These graphs are obtained by experiment. The graphs are not clean because of the tremor during the experiment and movement so frequently. The position of the cart where the pendulum maintains vertical is difficult to control because it changes with each experiment. Simulation graphs and experiment results are so different. To obtain a more realistic value, additional external forces must be considered. But it is a very successful simulation because it was done as our purpose.

참고 자료

Control System Engineering 6th edition, Norman S. Nise
Modern Control Engineering 5th edition, Katsuhiko Ogata