Differences

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--- lego_rip_initial [2016/08/02 15:42] – joaomatos
+++ lego_rip_initial [2017/07/21 15:59] (current) – [System Modeling] joaomatos
@@ Line 1: / Line 1: @@
-__**LEGO ROTARY INVERTED PENDULUM**__
+===== Lego Rotary Inverted Pendulum =====
+**Author:** Joao Matos Email: <jcunha@id.uff.br> <!-- replace with your email address -->
+\\
+**Date:** Last modified on 02/27/2017
+\\
+**Keywords:** Rotary Inverted Pendulum , LQR, NXC.
+\\
+ This tutorial presents a Rotary Inverted Pendulum built with Lego parts and controlled using LQR in Simulink and NQC Language.
- **Keywords:**Lego,NXT,Rotary,Inverted,Pendulum.
 {{ ::caparip.jpg?direct&300 |}}
@@ Line 7: / Line 16: @@
 ----
- **Motivation and Audience**: This tutorial's motivation is to study about the mechanisms behind the control of a rotary inverted pendulum ,using Lego to build the structure and the NXT Brick to program the balance code using NQC language and the Simulink environment. Readers of this tutorial assumes the reader has the following background and interests:
+===== Motivation and Audience =====
+This tutorial's motivation is to study about the mechanisms behind the control of a rotary inverted pendulum ,using Lego to build the structure and the NXT Brick to program the balance code using NQC language and the Simulink environment. Readers of this tutorial assumes the reader has the following background and interests:
   *Inverted Pendulum Mechanisms
   *Automatic Controls Theory (PID and LQR)
@@ Line 13: / Line 24: @@
   *Controls Programming using Simulink.
-----
 The rest of the tutorial is presented as follows:
@@ Line 26: / Line 34: @@
 ----
-**Parts List and Source**
+===== Parts List and Source =====
   * [[lego_rip_partslist|Parts List]]
@@ Line 32: / Line 42: @@
 ----
-**Construction**
+===== Construction =====
   *[[lego_rip_tutorial| Building Instructions]]
@@ Line 41: / Line 51: @@
 ----
+===== System Modeling =====
-**System Modeling**
+  * [[lego_rip_modeling|RIP System Modeling]]
+  * [[lego_rip_control_lqr|Full state feedback with LQR control]]
-  * [[lego_rip_modeling|System Modeling]]
+  * [[lego_rip_control_smc|Slide Mode  control]]
 ----
+===== Programming =====
-**Programming**
   * [[lego_rip_prog|Programming Using Bricx Command Center and Simulink]]
 ----
-**Final Words**
+===== System Simulation through Simulink =====
+  * [[lego_rip_simulation|Simulation Using CAD model and Simulink]]
+----
+===== Final Words =====
@@ Line 66: / Line 81: @@
 **Simulink Version**:
- {{youtube>OQBPhmWz1OY?medium}}
+ {{youtube>CVWS4crfsck?medium}}
 **Bricx Command Center Version**:
-{{youtube>p3QSxw294V8?medium}}
+{{youtube>OQBPhmWz1OY?medium}}
 Special Thanks to Dr Oh . This Tutorial is based on the following papers and projects: