The main objective is to find a controller model which can make Inverted Pendulum upright.
The Rotary Inverted Pendulum is a classic control problem that is explored often as a project in control courses due to its easily developed dynamics combined with its complexity of control design. Although, the problem can be solved using conventional control techniques like PD/PID controllers, we will use some other powerful techniques involving state space analysis.
All m files can be run as standalone.
The file description is as follows
1) sysAnalysis_project_Sumit.pdf
Detailed explanation of methods used for all the analysis. Description of prior frame work before implementing it in MATLAB.
2) System_analysis_PROJECT_f.m
Controllability analysis, controller design by pole placement, Lyapunov stability test
3) System_analysis_deadBeat.m
Dead beat model, Lyapunov stability test
4) System_analysis_observe.m
Minimum order observer model
5)System_analysis_optimal.m
Controller design based on quadratic optimal control
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