Pendulum Controller Experiment
Laboratory Report
Submitted
2007
Pendulum Controller Experiment
Laboratory Report
Summary
This is an investigation into the use of state-space dynamic models using state-feedback and pole-placement techniques. State-space design is a major method of designing feedback control systems. Hence, it is very important to understand the principle behind it and have knowledge of their limitations.
The following experiments look at the control of a crane and an inverted pendulum. Their step responses using various feedback gains of the state variables are analysed and compared to a linear model created in MATLAB.
It was found that the system poles were very sensitive to the feedback gain values. The linear models devised gave good approximations to stable crane systems but could not be used to model systems on the brink of becoming unstable or when large displacements were involved. The......
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