ENGT5145 - Control and Instrumentation - De Montfort University

The Rotary Inverted Pendulum Coursework

Introduction
Over the course of the term you will have familiarized yourself with the rotary inverted pendulum system, produced a mathematical model, performed simulated analysis and carried out experimentation.

Structure
You are to write a report based around your laboratory work. The report should contain a minimum of 20 figures. The report should comply with the following structure:-
Title
Abstract
I Introduction
II System Model:
The equations, the Simulink model figure and system hardware figure are essential.
III Controller Design:
1) Linearization
2) State feedback design
3) zero-pole map as a figure
IV Simulation with discussion:
1) Model simulation (1 structure figure, free response with 11 figures, forced responses with 1 figure)
2) Closed loop simulation (1 structure figure, 2 figures with/without disturbances)
V Experimentation with discussion:
Performance of hardware (2 figures with/without disturbance)
VI Conclusion and Future works
References.
Appendix:

Report

1. Introduction and aims of the experiment

2. Explain the procedure of building a Simulink model of a rotary inverted pendulum

3. Plots of the relevant input and output variables. These variables will have been saved by you in results.mat file. (Help on the plot command can be obtained by typing help plot or doc plot in the MATLAB command window).

4. Description and analysis of the open-loop system simulation results.

5. Describe the linearisation process around the pendulum angle - both the theory and the procedure performed in Matlab

6. Describe the process of designing a full feedback controller based on the linearized model.

7. Plot and analyse the closed-loop system simulation results. By now you should be having all the results saved in separate .mat files.

8. Plot the input and output data from the experiment (Labview) and simulation (Matlab/Simulink). Compare the behaviour of the model with the behaviour of the real pendulum.

9. How do the results of the real system compare with simulation? Formulate conclusions.