Lecture

Furuta Pendulum Control

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In course

ME-314: Concurrent engineering project

L'étudiant apprend à appliquer les compétences acquises en travaillant dans une équipe responsable d'une portion d'un projet plus vaste. ...

Description

This lecture covers the engineering project of controlling a Furuta pendulum, an electromechanical system where a pendulum is connected to a motor to maintain balance in an unstable position. The lecture explains the application of control algorithms for the Furuta pendulum to more complex electromechanical systems, such as rockets, involving mathematical modeling, linearization, debugging, and practical exercises on pole placement and LQR methods.

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Related concepts (31)

Control system

A control system manages, commands, directs, or regulates the behavior of other devices or systems using control loops. It can range from a single home heating controller using a thermostat controlling a domestic boiler to large industrial control systems which are used for controlling processes or machines. The control systems are designed via control engineering process. For continuously modulated control, a feedback controller is used to automatically control a process or operation.

Debugging

In computer programming and software development, debugging is the process of finding and resolving bugs (defects or problems that prevent correct operation) within computer programs, software, or systems. Debugging tactics can involve interactive debugging, control flow analysis, unit testing, integration testing, , monitoring at the application or system level, memory dumps, and profiling. Many programming languages and software development tools also offer programs to aid in debugging, known as debuggers.

Industrial control system

An industrial control system (ICS) is an electronic control system and associated instrumentation used for industrial process control. Control systems can range in size from a few modular panel-mounted controllers to large interconnected and interactive distributed control systems (DCSs) with many thousands of field connections. Control systems receive data from remote sensors measuring process variables (PVs), compare the collected data with desired setpoints (SPs), and derive command functions that are used to control a process through the final control elements (FCEs), such as control valves.

Mathematical model

A mathematical model is an abstract description of a concrete system using mathematical concepts and language. The process of developing a mathematical model is termed mathematical modeling. Mathematical models are used in applied mathematics and in the natural sciences (such as physics, biology, earth science, chemistry) and engineering disciplines (such as computer science, electrical engineering), as well as in non-physical systems such as the social sciences (such as economics, psychology, sociology, political science).

Debugger

A debugger or debugging tool is a computer program used to test and debug other programs (the "target" program). The main use of a debugger is to run the target program under controlled conditions that permit the programmer to track its execution and monitor changes in computer resources that may indicate malfunctioning code. Typical debugging facilities include the ability to run or halt the target program at specific points, display the contents of memory, CPU registers or storage devices (such as disk drives), and modify memory or register contents in order to enter selected test data that might be a cause of faulty program execution.

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