Differences

This shows you the differences between two versions of the page.

--- lego_rip [2017/05/19 16:34] – [LEGO Rotary Inverted Pendulum Ver. 2.0] sangsinpark
+++ lego_rip [2017/06/15 10:10] (current) – [NXC code for LEGO NXT Brick] sangsinpark
@@ Line 36: / Line 36: @@
 {{ lego_rip_v2:rip_equ2.jpg }}
 \\
-  * HW. Derive the kinetic energy.
+  * **HW.** Derive the kinetic energy.
 And the potential energy of the system is
 {{ lego_rip_v2:rip_equ3.jpg }}
@@ Line 53: / Line 53: @@
 {{ lego_rip_v2:rip_equ7.jpg }}
 \\
-  * HW. Linearize the above nonlinear equations by Taylor expansion.
+  * **HW.** Linearize the above nonlinear equations by Taylor expansion.
 For state-space representation, the equations are reconstructed.
 {{ lego_rip_v2:rip_equ8.jpg }}
@@ Line 70: / Line 70: @@
 {{ lego_rip_v2:rip_equ11.jpg }}
 \\
+  * **HW.** Derive a transfer function assuming that an output, y, is a α.
 ===== Full state feedback control =====
@@ Line 161: / Line 161: @@
 {
    float error = refRad - Mrad;
-   float U = PGain*error + IGain*M_errSum + DGain*d_Mrad;
+   float U = PGain*error + IGain*M_errSum - DGain*d_Mrad;
    if(U > FULL_SPEED)