User Tools

Site Tools


ballandbeam_modelling

Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revision Previous revision
ballandbeam_modelling [2016/07/13 14:59]
joaomatos
ballandbeam_modelling [2016/07/13 15:02] (current)
joaomatos
Line 119: Line 119:
  ​{{::​comparison.jpg?​direct|}}  ​{{::​comparison.jpg?​direct|}}
    
- ​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
 + 
 + ​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