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.
| Identifer | oai:union.ndltd.org:METU/oai:etd.lib.metu.edu.tr:http://etd.lib.metu.edu.tr/upload/12609564/index.pdf |
| Date | 01 May 2008 |
| Creators | Kocak, Elif |
| Contributors | Kocaoglan, Erol |
| Publisher | METU |
| Source Sets | Middle East Technical Univ. |
| Language | English |
| Detected Language | English |
| Type | M.S. Thesis |
| Format | text/pdf |
| Rights | To liberate the content for public access |
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