Static and dynamic control of network based rotary inverted pendulum system

The control of the Rotary Inverted Pendulum (RIP) is a classic control problem that is explored often as a project in control courses due to its easily developed dynamics combined with its complexity of control design. The aim of this project is to delve into the control of this system to achiev2 th...

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Main Author:	Yaakob, Zaid
Format:	Thesis
Language:	English
Published:	2013
Subjects:	TK Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/40674/5/Zaid%20YaakobMFKE2013.pdf
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id	my-utm-ep.40674
record_format	uketd_dc
spelling	my-utm-ep.406742017-07-18T04:01:15Z Static and dynamic control of network based rotary inverted pendulum system 2013-06 Yaakob, Zaid TK Electrical engineering. Electronics Nuclear engineering The control of the Rotary Inverted Pendulum (RIP) is a classic control problem that is explored often as a project in control courses due to its easily developed dynamics combined with its complexity of control design. The aim of this project is to delve into the control of this system to achiev2 the control objectives which is balancing the inverted pendulum base on CAN Network Control System. This system is composed of a pendulum attached to the end of a rotary arm controlled by a motor. The motor used is a Quanser SRV-02, whose characteristics are known completely. The motor consists of a servomotor coupled with a gear-chain. The aim is to keep the motor at a particular provided angular position. However, the major disadvantages of using NCS application are the delay introduced by the network traffic and package drop-out. Many researchers have directed their works towards solving these two issues by proposing new control algorithms or optimization of scheduling methods due to the fact that advantages offered by NCS far outweigh its centralized counterpart. In this thesis, investigation of the impact of network induced delays on the step response performance aspects of state space control designs LQR for a NCS with time delays. The vector of state-feedback control gains ‘K’ is used to deal with the degrade performance of a rotary inverted pendulum and also deal with the network traffic in network control system. Thus s simulation performed to show the effectiveness of the system. Eventually the result prove that the proposed controller gains improve the performance if RIP in a network induce delay. 2013-06 Thesis http://eprints.utm.my/id/eprint/40674/ http://eprints.utm.my/id/eprint/40674/5/Zaid%20YaakobMFKE2013.pdf application/pdf en public masters Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TK Electrical engineering Electronics Nuclear engineering
spellingShingle	TK Electrical engineering Electronics Nuclear engineering Yaakob, Zaid Static and dynamic control of network based rotary inverted pendulum system
description	The control of the Rotary Inverted Pendulum (RIP) is a classic control problem that is explored often as a project in control courses due to its easily developed dynamics combined with its complexity of control design. The aim of this project is to delve into the control of this system to achiev2 the control objectives which is balancing the inverted pendulum base on CAN Network Control System. This system is composed of a pendulum attached to the end of a rotary arm controlled by a motor. The motor used is a Quanser SRV-02, whose characteristics are known completely. The motor consists of a servomotor coupled with a gear-chain. The aim is to keep the motor at a particular provided angular position. However, the major disadvantages of using NCS application are the delay introduced by the network traffic and package drop-out. Many researchers have directed their works towards solving these two issues by proposing new control algorithms or optimization of scheduling methods due to the fact that advantages offered by NCS far outweigh its centralized counterpart. In this thesis, investigation of the impact of network induced delays on the step response performance aspects of state space control designs LQR for a NCS with time delays. The vector of state-feedback control gains ‘K’ is used to deal with the degrade performance of a rotary inverted pendulum and also deal with the network traffic in network control system. Thus s simulation performed to show the effectiveness of the system. Eventually the result prove that the proposed controller gains improve the performance if RIP in a network induce delay.
format	Thesis
qualification_level	Master's degree
author	Yaakob, Zaid
author_facet	Yaakob, Zaid
author_sort	Yaakob, Zaid
title	Static and dynamic control of network based rotary inverted pendulum system
title_short	Static and dynamic control of network based rotary inverted pendulum system
title_full	Static and dynamic control of network based rotary inverted pendulum system
title_fullStr	Static and dynamic control of network based rotary inverted pendulum system
title_full_unstemmed	Static and dynamic control of network based rotary inverted pendulum system
title_sort	static and dynamic control of network based rotary inverted pendulum system
granting_institution	Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2013
url	http://eprints.utm.my/id/eprint/40674/5/Zaid%20YaakobMFKE2013.pdf
_version_	1747816571630256128

Static and dynamic control of network based rotary inverted pendulum system

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