PendCon Advanced: The Simple Pendulum Advanced Experiment
The Simple Pendulum Advanced Experiment
The Simple Pendulum Advanced Experiment is a supplement to the Motor Shaft and the Simple Pendulum experiments in which high-frequency dynamics is added to the plant. This is done in the following way: The motor shaft is made elastic by dividing it into two parts which are connected by a spring The actuator (the pwm amplifier) is made uncertain by adding at its input an electronic circuit like an all-pass The following topics will be analyzed:
• Building a model of the additional dynamics
• Identifying the parameters experimentally
• Testing the controllers of the Simple Pendulum Experiment
• Stability and performance analysis with the help of prepared m-files
• Redesign of the controllers
• Stability and performance analysis of the improved controllers
A very short outlook to Hinf controller design will be given. The covered topics are:
• Definition of an extended plant by including suitable weights
• Formulation of the suboptimal Hinf controller design problem
• Application of the suitable Matlab tools for Hinf controller synthesis
• Comparison of the Hinf controllers with the PID controllers
A slightly more advanced version of this experiment was be presented at the European Control Conference in Kos/Greece (2007) and is described in the conference proceedings:
Mackenroth, U.: Robust Control of a Laboratory Pendulum with Uncertain High Frequency Dynamics