In Progress

Asymptotic Tracking Of An Inverted Pendulum On A Cart Part 2

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.

And also please read the attached file ([url removed, login to view]) for guidelines of how Matlab code and report should be written.

Main Outcomes:

1) Derivation and design of 5th order approximation controller and Matlab simulation of tracking of both reference and the designed 5th order approximation controller.

2) Design an internal model to the 5th order approximation controller to enhance its robustness.

Deadline: 2nd Feb 2010

Skills: Electrical Engineering, Engineering, Matlab and Mathematica, Mechanical Engineering, Report Writing

See more: zip inverted pendulum, cart inverted pendulum, written report guidelines, taylor design, problem approach, part problem, problem part, dynamic problem, design theory, code theory, approach problem, approach, an approach, asymptotic tracking, asymptotic tracking problem, regulation problem inverted pendulum, regulator problem inverted pendulum, matlab inverted pendulum, inverted pendulum, tracking, simulation matlab, regulation, pg, numerical solution, nonlinear

About the Employer:
( 3 reviews ) Singapore, Singapore

Project ID: #599816

Awarded to:

SolutionFinder85

hello;please see inbox.regards

$250 USD in 0 days
(1 Review)
3.1

6 freelancers are bidding on average $625 for this job

bchandra1955

I am professional automation engineer. I am working on vibration reduction problem using nonlinear control with simulink and matlab as software platform As I am full time engineer and also part time PhD Student, I c More

$750 USD in 90 days
(40 Reviews)
5.4
mrlfreelance

Please see the personal message.

$2000 USD in 21 days
(1 Review)
4.0
subbuaero

I can work on this. I have done masters from IISc, India's premier research institute. I have an idea of inverted pendulum problem too.

$250 USD in 3 days
(0 Reviews)
0.0
sumairahmad

I can do it, contact me.

$200 USD in 10 days
(0 Reviews)
0.0
fra0

I'm an Italian Electronic Engineer. I have a good knowledge of Control Problem and of Matlab, but, above all, I like very much Math Problem and PDE. So I'd like very much to solve this problem. I'd schedule the acti More

$300 USD in 35 days
(0 Reviews)
0.0