This closed-loop transfer function can be modeled in MATLAB by copying the following code to the end of your m-file (whether Create a new m-file and type in the following commands to create the plant model (refer to the main problem for the details of getting these The resulting transfer function for the closed-loop system from an input of force to an output of pendulum angle is then determined to be the following.īefore we begin designing our PID controller, we first need to define our plant within MATLAB. You may find it easier to analyze and design for this system if we first rearrange the schematic as follows. The schematic for this problem is depicted TheĮxternal force applied to the cart can be considered as an impulsive disturbance. This type of situation is often referred to as a Regulator problem. The reference signal we are tracking should be zero. Since we are attempting to control the pendulum's position, which should return to the vertical after the initial disturbance, The structure of the controller for this problem is a little different than the standard control problems you may be used Pendulum should not move more than 0.05 radians away from the verticalįor the original problem setup and the derivation of the above transfer function, please consult the Inverted Pendulum: System Modeling page.
0 Comments
Leave a Reply. |
AuthorWrite something about yourself. No need to be fancy, just an overview. ArchivesCategories |