ballandbeam_modelling
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- | ===== Ball and Beam Modelling ===== | + | ===== Ball and Beam Modelling |
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+ | ---- | ||
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+ | ===== Control using LQR ===== | ||
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+ | ---- | ||
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+ | ===== PID VS LQR ===== | ||
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+ | *note here that both methods can show pretty similar results , hand-tuning the gains after the initial guess. The PID version of the controler was intended to stop the ball fast , the LQR version of the controller was intended to stop the ball without overshooting too much. Again , both methods can be adjusted to control the overshoot or the rise time. | ||
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ballandbeam_modelling.txt · Last modified: 2016/07/13 15:02 by joaomatos