Control law partitioning applied to beam and ball system

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Date

2008

Author

Koçak, Elif

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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

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Citation Formats

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