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Návrh řízení rotačního inverzního kyvadla / Control Design of the Rotation Inverted Pendulum

Aim of this thesis is building of a simulator model of a rotary (Furuta) pendulum and design of appropriate regulators. This paper describes assembly of a nonlinear simulator model, using Matlab–Simulink and its library Simscape–Simmechanics. Furthermore the paper discuss linear discrete model obtained from the system response, using least squares method. This linear model serves as aproximation of the system for designing of two linear discrete state space regulators with sumator. These regulators are supported by a simple swing–up regulator and logics managing cooperation.

Identiferoai:union.ndltd.org:nusl.cz/oai:invenio.nusl.cz:402547
Date January 2019
CreatorsCejpek, Zdeněk
ContributorsNěmec, Zdeněk, Matoušek, Radomil
PublisherVysoké učení technické v Brně. Fakulta strojního inženýrství
Source SetsCzech ETDs
LanguageCzech
Detected LanguageEnglish
Typeinfo:eu-repo/semantics/masterThesis
Rightsinfo:eu-repo/semantics/restrictedAccess

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