**ECE-521 Control Systems II **

Since the predominant goal of this grant is to have students understand and appreciate the distinction between a model of a system and the real system, most of the Matlab routines used in the labs plot both the predicted response (based on the model) and the measured response (from the ECP system). A model of the system is necessary for the initial design of a controller, but the predicted response of the system may not match the true system response due to the simplified models being used.

This year we utilized ECP's Simulink drivers as our plants, and all of the labs were done in Simulink. The Simulink drivers were configured so that the ECP 210 systems used units of cm for both input and output.

**Lab 1: ***In this laboratory, the students developed a
Model of a one degree of freedom system, then used Simulink and to perform state
variable feedback for the system. They modified open loop systems to make closed
loop systems. They also went through a guide to be sure their
system was properly set up.*

*
Lab 1,
log_dec.m,
log_dec.fig,
Basic_1dof_State_Variable_Model.mdl,Basic_1dof_State_Variable_Model_Driver.m
process_data.m,
model_1cart.m,
guide.pdf*

**Lab 2: ***In this laboratory, the students the students
developed a Model of a two degree of freedom system, then used Simulink and to
perform state variable feedback for the system. *

*
Lab 2,
process_data_2carts.m,
model_2carts.m*

**Lab 3: ***In this laboratory, the students the students
developed a Model of a three degree of freedom system, then used Simulink and to
perform state variable feedback for the system.*

*
Lab 3***,
***
process_data_3carts.m,
model_3carts.m*

**Lab 4: ***In this lab the students first model a
regular pendulum on a single cart (a 2 dof system). They then control the
regular pendulum. After this is working correctly, the students get a model for
the inverted pendulum and try and control it. The students really like this lab!*

Lab 4, process_data_pendulum.m, model_pendulum_full.m, model_inverted_pendulum_full.m

**Lab 5:*** In this laboratory, the students made the
each of their systems a type 1 system by inserting an integrator before the
state model. This was done for their one, two, and three degree degree of
freedom systems. They used state variable feedback with each of these systems.*

**Lab 6: **In this lab the students combined their results
from lab 5 (forcing a type one system and using state variable feedback) with
full order observers to estimate the states. This was done only for one and two
degree of freedom systems.

**Lab 7: **In this lab the students combined their results
from lab 5 (forcing a type one system and using state variable feedback) with
reduced order observers to estimate the states. This was done only for one and
two degree of freedom systems.