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Asymptotic Tracking Of An Inverted Pendulum On A Cart

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.

Habilidades: Engenharia Elétrica, Engenharia, Matlab and Mathematica, Engenharia Mecânica

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Acerca do Empregador:
( 3 comentários ) Singapore, Singapore

ID do Projeto: #584575

Premiar a:


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 Mais

$400 USD em 7 dias
(19 Avaliações)

8 freelancers estão ofertando em média $456 para este trabalho


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$500 USD in 7 dias
(10 Comentários)

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$250 USD in 5 dias
(8 Comentários)

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 classi Mais

$500 USD in 15 dias
(1 Comentário)

Hello I can do your project. Strong math background

$700 USD in 14 dias
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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 Mais

$600 USD in 10 dias
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See details in MB.

$350 USD in 10 dias
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$350 USD in 15 dias
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