PendCon Basic: Rotary Pendulum Basic
Rotary Pendulum Basic
Rotary Pendulum Basic:
The first steps from PID control
to state space control
To balance a pendulum automatically is probably the most famous experiment of the control engineering sciences. It has a long history and still attracts the interest of the students. The fascination of the experiment is mainly caused by the instability of the underactuated plant.
The main educational goal is to guide the students through the first steps of state space methods. This includes modeling and analysis of the plant, controller design by full state feedback, the design of observers including a Luenberger observer or a Kalman filter and the analysis of the closed-loop system. The students will learn that these controllers lead to closed-loop systems with different performance and robustness properties.
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