Lab 3: Inverted Pendulum Compensator Design via
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1. your work is logical and justified A standard procedure to follow would be to start with the system s open loop step response say and then use this to decide what kind of controller lag lead etc to design Once this is done use an appropriate technique to pick the controller gains Plot the response of the closed loop system s cart position to a step input Based on this result can you implement this controller Explain why or why not V Lab CAUTION DO NOT TRANSFER DATA TO AND FROM THE WINDOWS 98 MACHINE THIS MACHINE SHOULD NOT BE PUT ON THE EECS NETWORK 0 Sign up for a 1 hour time slot with the TA 1 Controller Implementation Briefly describe your controller to the TA Your presentation should be timed for 30 minutes with a 15 minute Q A session after your presentation Make sure you address the design issues from the prelab VI Revision History Semester and Revision Author s Comments Summer 2008 Bharathwaj Muthuswamy 1 Formatted writeup into Rev 1 00 different sections 2 Typed up solutions VII References 1 Franklin Gene F Powell David J and Emami Naeini Abbas Feedback Control of Dynamic Systems 5th Edition 2006 Prentice Hall Inc 2 UCSB course ECE147B Digital Control Systems Theory and Design Available online http www ece ucsb edu roy cgi bin makepage pl nav course_147b June 27 2008 3 Quanser Consulting Inc Self Erecting IP User s Manual 1996 4 Control Tutorials for MA2. EE128 Fall 2008 Lab 3 University of California Berkeley Rev 1 00 Lab 3 Inverted Pendulum Compensator Design via Classical Control Techniques I Objective The goal of this lab is a To design a controller using transfer function classical control techniques so as to balance the pendulum about the vertical equilibrium b To make sure students understand the limitations of classical control techniques in the context of multiple input or multiple output control systems II Software and equipment 1 Computer with MATLAB Simulink WinCon and Real Time Workshop installed 2 ee128 student account III Theory 1 Model of the Plant Figure 1 below shows the inverted pendulum system s free body diagram from the previous lab for reference 8 Pendulum y j gt N NE Fricoder a Track es Motor Figure 1 Pendulum system free body diagram 5 IV Prelab 1 Plant model From your previous lab write down your final plant model EE128 Fall 2008 Lab 3 University of California Berkeley Rev 1 00 2 Controller design Assuming that your input is the motor voltage and the output is the pendulum angle design a controller that meets the following specifications 1 Settling time is less than one second 2 Pendulum angle is never more than 0 1 radians from the vertical You are free to use any classical control technique root locus PID frequency response etc that you wish However make sure that
3. TLAB Available Online http www ee usyd edu au tutorials_online matlab examples pend invpen html June 27 2008
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