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ballandbeam_modelling

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 ballandbeam_modelling [2016/07/13 14:59]joaomatos ballandbeam_modelling [2016/07/13 15:02]joaomatos Both sides previous revision Previous revision 2016/07/13 15:02 joaomatos 2016/07/13 14:59 joaomatos 2016/07/13 14:46 joaomatos 2016/07/13 14:46 joaomatos 2016/07/13 14:43 joaomatos created 2016/07/13 15:02 joaomatos 2016/07/13 14:59 joaomatos 2016/07/13 14:46 joaomatos 2016/07/13 14:46 joaomatos 2016/07/13 14:43 joaomatos created Line 119: Line 119: ​{{::​comparison.jpg?​direct|}} ​{{::​comparison.jpg?​direct|}} - ​It'​s difficult to make a comparison between the PID and LQR control methods , both can be adjusted by hand after the initial guess and can show satisfactory results.However , the main advantage of using LQR on this case is that the energy input can be controlled (at the [R] matrix ). Both methods requires a hand tuning after the initial guess to achieve the desired response. + ​It'​s difficult to make a comparison between the PID and LQR control methods ​on this ball and beam case , both can be adjusted by hand after the initial guess and can show satisfactory results.However , the main advantage of using LQR on this case is that the energy input can be controlled (at the [R] matrix ). Both methods requires a hand tuning after the initial guess to achieve the desired response. + + ​Usually you will want to use Full State feedback using LQR insted of PID - PID can be limited in some situations. On the Rotary Inverted Pendulum for example ​ , using only PID Control is not enough to get a good pendulum balance.