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M.Cont.A01

The document outlines an assignment focused on control systems, specifically involving an inverted-pendulum system on a motor-driven cart, a Segway, and a solar panel tracking system. It includes tasks such as obtaining mathematical models, linearizing system dynamics, determining state-feedback gain matrices, and simulating system responses using MATLAB. Additionally, it requires deriving state-space representations and designing state feedback control for the solar panel system.

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BecKY Bire
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6 views3 pages

M.Cont.A01

The document outlines an assignment focused on control systems, specifically involving an inverted-pendulum system on a motor-driven cart, a Segway, and a solar panel tracking system. It includes tasks such as obtaining mathematical models, linearizing system dynamics, determining state-feedback gain matrices, and simulating system responses using MATLAB. Additionally, it requires deriving state-space representations and designing state feedback control for the solar panel system.

Uploaded by

BecKY Bire
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Assignment-I

1. Consider the inverted-pendulum system mounted on a motor-driven cart, as shown in the


figure below. The mass is concentrated at the top of the rod, with the center of gravity
located at the center of the pendulum ball (Fig 1a) or the wine-filled wine glass (Fig 1b).
Where
M = mass of the cart
m=mass of the pendulum ball or the wine − filled wine glass.
= length of the pendulum
b=friction coefficient

fr

Fig1a. Fig1b.
Fig.1a inverted pendulum diagram, 1b Balancing cart, a simple robotics system circa 1976. The
cart contains a servo system that monitors the angle of the rod and moves the cart back and forth
to keep it upright.

A. Obtain a mathematical model equation or the non-linear state space representation

• •
state variables : x1 =  x 2 =  x 3 = x, x 4 = x
output variables as: y1 ==x1 y 2 =x=x 3

B. Linearize the system’s dynamics near the equilibrium point corresponding to the
upright position of the pendulum
C. Determine the state-feedback gain matrix K
Assume that:
M = 2kg, m=0.5kg, =1m, b=0 and desired closed − loop poles at
s=-4+j4, s=-4-j4, s=-20, s=-20
D. Write a MATLAB program to simulate the system’s response for the initial condition
x (0) =0, x2(0) =0, x (0)=0, x3(0)=0, x4(0)=1 m/s. Plot the response curves of x1(t),
1 2

x2(t), x3(t), and x4(t) versus time t.

Modern Control System Ethel.C


2. The Segway, shown on the left side of Fig. 2a, is a two-wheeled vehicle with a single axle.
Its open-loop behavior closely resembles that of the planar unicycle depicted on the right-
hand side of Fig. 2b. In Fig. 2b, u represents the applied momentum between the body and
the wheel. The connection between these two components is a pivoting pin, with b as the
center of gravity of the body and a as the center of the wheel. Point c is a fixed point on
the disk.
⃑⃑⃑⃑ and the horizontal axis, and θ the angle
Let s represent the angle between the vector 𝒂𝒄
between the unicycle's body and the vertical axis. This system has two degrees of freedom,
s and θ. The state of the system is given by the vector:
• •
x = (s, ,s, )T
The parameters are:
▪ For the disk: Its mass M, its radius ρ, and its moment of inertia JM.
▪ For the pendulum: Its mass m, its moment of inertia Jp, and the distance ℓ between its
center of gravity and the center of the disk.

Find the state equations of the system.

Fig 2a Segway Fig 2b Segway Dynamics

Figure 2c Segway and inverted pendulum overview

Modern Control System Ethel.C


3. A single-axis solar panel tracking system is driven by a DC motor, which is rigidly
connected to the panel. The goal is to rotate the panel to follow the sun’s movement,
ensuring maximum sunlight absorption. The motor is controlled by an armature voltage
Va. Given that the torque produced by the motor is proportional to the armature current ia
, and the back EMF is proportional to the motor speed.
Given the following parameters:

Parameter Symbol Value Unit


Armature Resistance Ra 1 Ω (Ohms)
Armature Inductance La 0.01 H (Henry)
Torque Constant kt 0.5 N·m/A
Back EMF Constant kb 0.05 V·s/rad
Motor Inertia Jm 0.0001 kg·m²
Solar Panel Inertia Jp 0.0999 kg·m²
Friction Coefficient motor b 0.05 N·m·s/rad
Friction Coefficient panel bp 0.05 N·m·s/rad

A. Derive the state-space representation of the system, using the state variables?

i a 
 
x = p 
 
 p
B. Design a state feedback control with full state observer for panel tracking, with desire
controller pole s1=s2=-10 and s3=-20.

Modern Control System Ethel.C

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