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Asymptotic Tracking Of An Inverted Pendulum On A Cart

$250-750 USD

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投稿日: 約14年前

$250-750 USD

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The project considers the problem of designing a controller such that the position of the cart can asymptotically track a sinusoidal input. It is a typical output regulation problem in control theory. The solvability of the output regulation problem relies on the solution to the so-called regulator equations which are a set of partial differential equations (PDEs). It is usually impossible to obtain an analytic solution for a nonlinear PDE, so the approximate Taylor series solution is widely used in practice. In this project, this approximate approach will be utilized to find a regulator for the inverted pendulum on a cart system. This project requires mathematical derivation and numerical MATLAB simulation, in particular, on dynamic equations, e.g. ode23. Please refer to attachment for required text (Nonlinear Output Regulation: Theory and Applications by Jie Huang) to read on (especially Chapter 2, 3, 4, 5). Please use the parameters stated in Chapter 4 pg 130. Main Outcomes: 1) Mathematical working and Matlab simulation of tracking of both reference and linear controller as from the required text. 2) Mathematical working and Matlab simulation of tracking of both reference and 2nd order approximation controller as from the required text. 3) Mathematical working and Matlab simulation of tracking of both reference and existing 3rd order approximation controller as from the required text. 4) Derivation and design of 4th order approximation controller and Matlab simulation of tracking of both reference and the designed 4th order approximation controller. 5) Try to change one of the parameters to see changes in simulations. 6) Find out the limits of the controllers through simulations 7) Design an internal model to the 3rd and 4th order approximation controllers to enhance its robustness. Deadline till 12 Jan 2010.
プロジェクト ID: 584575

プロジェクトについて

8個の提案
リモートプロジェクト
アクティブ 14年前

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ユーザーアバター
Hi, I have wide experience on control algorithms and I am also expert on matlab programming. What I can offer you is the solution of the project points (m files that you can run) and a report with the results and the matematical calculations. I can ensure that your project will be rightly finished if you choose my bid. In case you have any question about the how the solutions will be fulfilled, please contact me. Best regards.
$400 USD 7日以内
4.6 (19 レビュー)
5.0
5.0
この仕事に8人のフリーランサーが、平均$456 USDで入札しています
ユーザーアバター
Hi Please see PMB
$500 USD 7日以内
5.0 (10 レビュー)
4.5
4.5
ユーザーアバター
Good day. I am a PhD student in the field of Electrical Engineering. My bachelor diploma project was an implementation of mantaining the balance of an inverted pendulum on a cart, adapted from an A3 printer - a classic problem. So this project would be a more mathematicaly-wise complex continuation, I belive I can do the job. Please contact me to discuss furhter details. Looking forward to hearing from you, eng. Paul HARFAS
$500 USD 15日以内
5.0 (1 レビュー)
2.4
2.4
ユーザーアバター
Hello I can do your project. Strong math background
$700 USD 14日以内
0.0 (0 レビュー)
0.0
0.0
ユーザーアバター
Dear i am really intrested in doing your work. I have much programing experience in MATLAB/SIMULINK. Also i have studied Control systen. I can do your work very easily and in best way. We can negosiate further. Just contct for help. Thanks.
$600 USD 10日以内
0.0 (0 レビュー)
0.0
0.0
ユーザーアバター
See details in MB.
$350 USD 10日以内
0.0 (2 レビュー)
4.5
4.5
ユーザーアバター
i m interested and experienced for your project. for sample watch pm.
$350 USD 15日以内
0.0 (0 レビュー)
0.0
0.0

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SINGAPOREのフラグ
Singapore, Singapore
4.7
3
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メンバー登録日:1月 5, 2010

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