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ballandbeam_modelling [2016/07/13 14:59] joaomatosballandbeam_modelling [2016/07/13 15:02] (current) joaomatos
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- It's difficult to make a comparison between the PID and LQR control methods , both can be adjusted by hand after the initial guess and can show satisfactory results.However , the main advantage of using LQR on this case is that the energy input can be controlled (at the [R] matrix ). Both methods requires a hand tuning after the initial guess to achieve the desired response.+ It's difficult to make a comparison between the PID and LQR control methods on this ball and beam case , both can be adjusted by hand after the initial guess and can show satisfactory results.However , the main advantage of using LQR on this case is that the energy input can be controlled (at the [R] matrix ). Both methods requires a hand tuning after the initial guess to achieve the desired response
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 + Usually you will want to use Full State feedback using LQR insted of PID - PID can be limited in some situations. On the Rotary Inverted Pendulum for example  , using only PID Control is not enough to get a good pendulum balance.
  
    
  
ballandbeam_modelling.txt · Last modified: 2016/07/13 15:02 by joaomatos