연세대학교 전력 및 제어공학실험 제어실험 5주차 ELECTRIC POWER AND CONTROL ENGINEERING LAB Result-Report

소개글

연세대학교 전력 및 제어공학실험 제어실험 5주차 ELECTRIC POWER AND CONTROL ENGINEERING LAB Result-Report에 대한 보고서 자료입니다.

목차

Chapter 12. Design of A PID Controller For An Inverted Pendulum

1. OBJECT
2. THEORY
3. DISCUSSION



Chapter 13. Design of A Controller For Inverted Pendulums
Using State-Feedback & Observer

1. OBJECT
2. THEORY
3. DISCUSSION

본문내용

Chapter 12. Design of A PID Controller For An Inverted Pendulum


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

-Linear model of the pendulum system

-Linear model of the upright-positioned pendulum system




< 중략 >




Chapter 13. Design of A Controller For Inverted Pendulums


Using State-Feedback & Observer
1.OBJECT
-Design a state-feedback controller to keep the angle of the pendulum perpendicular and keep the position of the cart zero.
- Design an observer to estimate the unmeasured state variables
- Apply the controller to the inverted pendulum cart and observe the system response.


2. THEORY

- State-Space Equation of Inverted Pendulum

키워드

연세대학교,   전력및제어실험,   제어실험,   전력 실험,   제어공학실험,   제어,   실험