Where are the PHYSICAL inputs to a control system?

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Discussion Overview

The discussion revolves around the integration of physical inputs into a control system for balancing an inverted pendulum, specifically focusing on the use of a potentiometer to measure the pendulum's angle and how to incorporate this measurement into the existing SIMULINK model.

Discussion Character

  • Homework-related
  • Technical explanation
  • Exploratory

Main Points Raised

  • A participant describes their senior design project involving a control system for an inverted pendulum and seeks guidance on connecting a potentiometer to the system.
  • The participant expresses uncertainty about removing an integrator in their SIMULINK diagram to connect the potentiometer output, questioning if this approach is valid.
  • Another participant mentions a section in their controls textbook regarding state estimation, suggesting it may relate to the participant's query.
  • A follow-up request for the book's name or ISBN indicates interest in further exploring the concept of state estimation or observers in control systems.

Areas of Agreement / Disagreement

The discussion does not appear to reach a consensus, as participants express uncertainty and seek additional information rather than agreeing on a specific approach.

Contextual Notes

There are limitations regarding the clarity of the participant's understanding of control system inputs and the specific role of the potentiometer in the model, as well as the potential need for further clarification on state estimation concepts.

Who May Find This Useful

Students and practitioners working on control systems, particularly those involving dynamic systems like inverted pendulums, may find this discussion relevant.

TheNoname
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Hey everyone, I'm brand new here, so please bare with me if my question doesn't come out right.

Homework Statement



So for my senior design class I am working with a control system that balances an inverted pendulum. Here is my SIMULINK diagram:

http://dl.dropbox.com/u/62748/Untitled.jpg

I am using a simple potentiometer to measure the angle of the pendulum, but my question is, where do I hook this into? The input that is currently there is a force. Like a disturbance on the cart.

Homework Equations



I used the following equations from wikipedia to model the system and I linearized them about θ = 0

http://en.wikipedia.org/wiki/Inverted_pendulum#Pendulum_on_a_cart


The Attempt at a Solution



Since the bottom right integrator's output is the angle, my inclination is to take out that integrator and connect the output from the pot to where the output of the integrator used to be. Does that make sense?

I've tried asking my professor, but I don't think he understands my question and if I ask him any more times he might think I'm crazy lol.
 
Last edited by a moderator:
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I'm not sure. I know my controls books has a section on estimating states and also estimating states when one or more state is known through measurement.
 
Oh okay. What is the name or ISBN number of the book? I think you are describing an observer but I want to look it up.
 
Last edited by a moderator:

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