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1. System modeling
To linearize the system assume that the system stays within a small
neighborhood of this equilibrium with angle (phi)
• To solve this problem, we need to add a pole at the origin (an integrator) via the controller to
cancel the plant zero at the origin. This addition will produce two closed-loop poles in the right-
half plane.
4- APPLYING
PID
CONTROL :
PID CLOSED LOOP SYSTEM:
• Now we can begin to tune our controller. First let's examine the response
of the closed-loop system to an impulse disturbance for this initial set of
control gains
• This response is still not stable. Let's begin to modify the response
by tuning using MATLAB tuner to choose the values of constants .
PID TUNING:
PID TUNING:
• As we can see, the overshoot has been reduced so that the pendulum does not move
more than 0.05 radians away from the vertical. Since all of the given design requirements
have been met, no further iteration is needed.
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