EPE3200: State Space Analysis and Controller Design Home Work, NU, Singapore: Analyze and design a controller for the inverted pendulum shown in the figure
University | Newcastle University (NU) |
In this assignment, you will model, analyze and design a controller for the inverted pendulum shown in the figure. You will apply the principles learned in the model to accomplish the tasks and prepare a report that you will be submitting at the end of the trimester. The parameters of the inverted pendulum system are as follows:
Mass of the cart (M): 0.5 kg
Mass of the pendulum (m): 0.2 kg
Coefficient of friction for cart (b): 0.1 N/m/sec
Length to pendulum center of mass (l): 0.3 m
Mass moment of inertia of the pendulum (I): 0.006 kg.m^2
Buy Custom Answer of This Assessment & Raise Your Grades
Tasks
- Obtain the model of the system in State Space form.
- Obtain the equilibrium point and linearize the model around the equilibrium point.
- Design a pole placement controller that can drive the cart to follow a step reference input while keeping the pendulum upright.
- Design an LQR controller for the task in (c) and compare both approaches.
- Assuming that the speed of the cart and angular speed of the pendulum is not measured, derive a state observer that can estimate those signals and use the observer in parts (c) and (d).
Hire a Professional Essay & Assignment Writer for completing your Academic Assessments
Are you stuck with your EPE3200 State Space Analysis and Controller Design Homework and looking for the best homework writing help in Singapore? Look no further, at Assignment Help Singapore we have a team of skilled writers who can assist you and complete your homework in a 100% error-less manner at a very cheap price.
- Final Assignment: Migrating FashionOnline’s Infrastructure to AWS: A Strategy for Enhanced Availability and Data Protection
- HRM331: Talent Management – Strategic Shift from the War for Talent to the Wealth of Talent
- Marginalised Populations – The Structural and Cultural Exclusion of People Experiencing Homelessness in Singapore
- CVEN3501 Assignment 2: Groundwater Modelling of Drawdown from a Pumping Bore
- CSCI312 Assignment 2: Conceptual Modelling and Implementation of a Data Warehouse and Hive Queries
- CH2123 Assignment: Fugacity, VLE Modeling & Applications of Henry’s Law
- BAFI1045 Assignment -Constructing and Evaluating Passive and Active Portfolios Based on the Straits Times Index (STI)
- FIN2210E/FIN2212E Group Assignment: Financial Risk Management Analysis of Bursa Malaysia Companies
- FLM101 Assignment: A Film Analysis: Stylistic Techniques and Their Thematic Importance
- HRM Assignment Answer: Talent Transformation in the Age of AI: Turning Challenges into Opportunities via Ecosystem Innovation
UP TO 15 % DISCOUNT