ACS Lecture 03
ACS Lecture 03
ACS Lecture 03
Lecture 03
2 References
In this section, we will model a few systems that would be used to study the
advanced topics in control systems.
Rotational angle: θ,
Rotational speed: ω,
Input voltage: Vin ,
Armature current: i,
Torque constant: KT ,
Back EMF: KE ,
Armature inductance: La ,
Armature resistance: Ra ,
Viscous damping: B,
Load inertia: Jr , and
Load torque: Tl .
0 1 0
0 0
θ̇ −B KT
θ
ω̇ = 0
− 1 0
ω +
Jr Jr Tl + V
− 1 in
i̇
− KE Ra i Jr
0 + 0 La
La La
Muhammad Mehdi, Ph.D. Sample System Modeling 10 / 14
Inverted Pendulum[4]
Dynamics obtained by Lagrangian mechanics (L = T − V ):
T : Kinetic Energy, and V : Potential Energy of the system.
Nonlinear Equations:
(M + m)ẍ + mlθ̈ cos θ − mlθ̇2 sin θ = u
(I + ml2 )θ̈ + mgl sin θ = −mlẍ cos θ
To linearize:
Equilibrium position θ = π,
For small change ϕ, θ = π + ϕ
Moment of Inertia I ≈ 0
Small angle approximation:
cos θ = cos(π + ϕ) ≈ −1
sin θ = sin(π + ϕ) ≈ −ϕ
θ̇2 = ϕ̇2 ≈ 0
Linearized Equations:
(M + m)ẍ + mlθ̈ = u
M lθ̈ = mlẍ = mglθ
-Or-
M lθ̈ = (M + m)glθ
M ẍ = u − mgθ
[1] H. Du and N. Zhang, “H∞ Control of active vehicle suspensions with actuator
time delay,” Journal of sound and vibration, vol. 301, no. 1-2, pp. 236–252,
2007.
[2] F. Akhgari, Z. Rahmani, and B. Rezaie, “Adaptive anti-control of chaos of
permanent magnet dc motor system,” in 2011 19th Iranian Conference on
Electrical Engineering, IEEE, 2011, pp. 1–6.
[3] M. Lavanya, R. Brisilla, and V. Sankaranarayanan, “Higher order sliding mode
control of permanent magnet dc motor,” in 2012 12th International Workshop
on Variable Structure Systems, IEEE, 2012, pp. 226–230.
[4] K. Ogata et al., Modern control engineering. Prentice hall Upper Saddle River,
NJ, 2010, vol. 5.