Recent content by rasco

So, I create LTI system in order to determine PID parameters. But I also have an option to create a simple controller based on closed loop formula u = -K*x, right? Or this formula is just a proportional controller, that means it is P letter from PID regulator? And how is all this related to...

Hi, I have a very basic conceptual question. I have a system (eg. inverted pendulum) that I want to control. So I need to build a controller. That is clear. If I understand it well, I have minimally two separate options: 1 - use PID regulator/controller 2 - analyze the system, linearize it...

Yes, the steady-state point is (xss,iss) = (10,5). I used formula h'' = g - (c * i)/(M * h) where h'' is actual acceleration, i is current, c is constant equal to 1 g is gravit.constant equal to 10 M is weight (0.05kg) and h is distance from the magnet I stated h'' to be zero...

Hi, I calculated this: LTI system: A={{0,1},{1,0}} B={{0},{-2}}) C={{1,0}} D={} I use Octave, so eig(A) = [-1;1] which means unstable. Let's use pole placement P=[-1,-1] to compute K K=place(A,B,P); K={{-1,-1}} Now we can compute our new transformation matrix A_dash: A_dash=A-B*K...

OK, so there is no way I can control the system you described so that u=h (distance from magnet) instead of u=i ? Or I have to use some more complex feedback controller that will allow me to do that? note: yes, I understand, that when using (u=-Kx) without reference, or with 0 reference, I will...

Ok. I see. Now to the point 1: I indeed want to implement a feedback control system. I did a course on coursera (control of mobile robots) and now want to put all things together. If I understand you correctly. First thing to do is to create a linear model of the physical system. For that I...

Hi, thank you very much for your help. I would have two questions: 1. what should the model look like to fulfill requirements: - input - position of the ball - output - current needed to keep the ball at the position defined by input. your (1) model can not be used for that? why? 2. could I...

Hi, I have a 'simplified' equation of the magnetically suspended ball. a = g - (i/h * M) where a - actual acceleration of the ball. h - distance from the magnet. g - gravitational acceleration, to keep it simple let g = 10 M - mass of the ball 0.05 kg i - current through the...