Control law partitioning applied to beam and ball system

Download

index.pdf

Date

2008

Author

Koçak, Elif

Metadata

Show full item record

Item Usage Stats

198
views

165
downloads

In this thesis different control methods are applied to the beam and ball system. Test setup for the previous thesis is handled, circuit assemblies and hardware redesigned. As the system is controlled by the control law partitioning method by a computer, discrete time system model is created. The controllability and the observability of the system are analyzed and a nonlinear controller by using control law partitioning in other words computed torque is designed. State feedback control algorithm previously designed is repeated. In case of calculating the non measurable state variables two different reduced order observers are designed for these two different controllers, one for control law partitioning controller and the other for state-feedback controller. Two controller methods designed for the thesis study are tested in the computer environment using modeling and simulation tools (Also a different controller by using sliding mode controller is designed and tested in the computer environment using simulation tools). A controller software program is written for the designed controller algorithms and this software is tested on the test setup. It is observed that the system is stable when we apply either of the control algorithms.

Subject Keywords

Electrical engineering.

URI

http://etd.lib.metu.edu.tr/upload/12609564/index.pdf
https://hdl.handle.net/11511/18169

Collections

Graduate School of Natural and Applied Sciences, Thesis

Suggestions

OpenMETU
Core

Image segmentation based on variational techniques Altınoklu, Metin Burak; Ünver, Baki Zafer; Department of Electrical and Electronics Engineering (2009) In this thesis, the image segmentation methods based on the MumfordShah variational approach have been studied. By obtaining an optimum point of the Mumford-Shah functional which is a piecewise smooth approximate image and a set of edge curves, an image can be decomposed into regions. This piecewise smooth approximate image is smooth inside of regions, but it is allowed to be discontinuous region wise. Unfortunately, because of the irregularity of the Mumford Shah functional, it cannot be directly used for ...
Parameter extraction and image enhancement for catadioptric omnidirectional cameras Baştanlar, Yalın; Çetin, Yasemin; Department of Information Systems (2005) In this thesis, catadioptric omnidirectional imaging systems are analyzed in detail. Omnidirectional image (ODI) formation characteristics of different camera-mirror configurations are examined and geometrical relations for panoramic and perspective image generation with common mirror types are summarized. A method is developed to determine the unknown parameters of a hyperboloidal-mirrored system using the world coordinates of a set of points and their corresponding image points on the ODI. A linear relati...
Analysis and design of microstrip printed structures on electromagnetic bandgap substrates Güdü, Tamer; Alatan, Lale; Department of Electrical and Electronics Engineering (2008) In the first part of the thesis, the 2-D structures in stratified media are analyzed using an efficient MoM technique. The method is used to optimize transmitted or reflected electric fields from the 2-D structures. The genetic algorithm is used in the optimization process. In the second part a 3-D MoM technique is implemented to analyze multilayered structures with periodically implanted material blocks. Using the method, the dispersion and reflection characteristics of the structure are calculated for dif...
Continuation power flow and voltage stability in power systems Keskin, Mehmet B; Ertaş, Arif; Department of Electrical and Electronics Engineering (2007) This thesis investigates an important power system phenomenon, voltage stability, by using continuation power flow method. Voltage collapse scenario is presented which can be a serious result of voltage instability and the parameters that affect voltage collapse are discussed. In analyzing power system voltage stability, continuation power flow method is utilized which consists of successive load flows. This method is applied to a sample test system and Turkish Power System and load-voltage curves for sever...
Identification of electromagnetic scattering mechanisms by two dimensional windowed fourier transform approach Germeç, K. Egemen; Kuzuoğlu, Mustafa; Department of Electrical and Electronics Engineering (2004) In this thesis, it is demonstrated that the two-dimensional Windowed Fourier Transform (WFT) can be effectively used to analyze the local spectral characteristics of electromagnetic scattering signals in the two-dimensional spatial frequency domain. The WFT is the extension of the Short Time Fourier Transform (STFT), which was originally derived to analyze the local spectral characteristics of one dimensional time functions. Since the WFT focuses on the local spectral behavior of the scattered field, the si...

Citation Formats

E. Koçak, “Control law partitioning applied to beam and ball system,” M.S. - Master of Science, Middle East Technical University, 2008.