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Table Of Contents

1. Introduction
1.1 Motivation
1.2 Background
2. Design Problem and Requirements
2.2. The Constraints
2.3. The Requirements
3. The Range of Possible Solutions
3.1. Mechanical System
3.1.2. The Motor And The Control Circuit
3.2. Feedback Network
3.2.1. Displacement Sensors
3.2.2. Angle Sensor
3.3. Controller Solutions
3.3.1 Modeling the System Dynamics
3.3.1.1. Modeling Assumptions
3.3.1.2. Linearity
3.3.1.3. Complexity
3.3.2. Controller Design
3.3.2.1. Classical Control
3.3.2.2. Modern Control
3.3.2.3. Robust Control
3.3.2.4 Model Predictive Control
3.4. The Final Design Choices and Reasoning
3.4.1. The Final Design Choices
3.4.2. The Reasoning Behind the Choices
4. Design Process and It’s Implementation
4.2. Feedback Network
4.3. Control Circuit
4.4.1. The System Dynamics
4.4.3. LQR Controller Design
4.4.4. Using the Mega32 to Apply the Control Law
4.4.4.1 Parameterizing the Motor
4.4.4.2 Implementing the Control Law
4.5. Evolution of the Requirements
5. Results Compared to Expectations
6. Conclusion
7. References
8. Acknowledgements
Appendix A: Schematics
Appendix B: Instructions Manuals
B.1. How to parameterize the motor
B.2.How to operate the controller
C.1. C Source File
C.2. Matlab Data Acquisition Program
C.3. Matlab Parameter Calculations
Appendix D: Matlab File for Designing a Controller
Appendix E: C Source File for the Controller
Appendix F: Parts List and Cost
Appendix G: Pictures of Overall Design
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Final Report

Final Report

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Published by Ender Özcan

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Published by: Ender Özcan on May 24, 2012
Copyright:Attribution Non-commercial

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