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.