EEE325 – Control Systems

Lab # 14
To Create the Mathematical Model of the QNET HVAC
System and Design of PI Controller for the System
Names UBAID UR REHMAN

Registration Number FA18-BEE-121

Class FA18-BEE-E

Instructor’s Name ABU BAKAR TALHA JALIL

LAB#14: Design and Implementation of a Hybrid Controller on
Rotary Pendulum System
OBJECTIVES
To tell the working of a Hybrid Controller
To Design a hybrid controller for the System
METHODOLOGY
If the arm angle is kept constant and the pendulum is given an initial position it would swing
with constant amplitude. Because of friction there will be damping in the oscillation. The
purpose of energy control is to control the pendulum in such a way that the friction is constant
Since the acceleration of the pivot is proportional to current driving the arm motor and thus
also proportional to the drive voltage, we find that it is easy to control the energy of the
pendulum. The proportional control laws This system can be modelled as a hybrid system.
Hybrid systems are systems with both continuous and discrete parts. There are two continuous
part: the closed-loop system using the swing-up energy controller and the closed loop system
using the PD balance controller. The switching strategy is the discrete element that chooses
which controller, or system, to run. The switching logic can be obtained by determining a
region in state space where the balancing works well. Balancing control is then used inside this
region and energy control is used outside the region the virtual instrument used to run the
swing-up controller on the QNET rotary pendulum system is the same as the balance control.
LAB TASK 1

OUTPUT
LAB TASK 2

RESULTS
Task 1:

Ans) The position sensor used in the sensor assembly is to sense the changes in the angle of
the pendulum, the shaft position etc.

Before this, a potentiometer was sued to calculate any new changes in the angle and
displacement of the pendulum.

Task 2:

Ans) Other types of Rule Based Controller are Fuzzy Logic Systems and Expert Systems.

CONCLUSION
In this lab we concluded that how to design and Implement a Hybrid Controller on Rotary
Pendulum System and how to tell the working of hybrid controller on rotatory pendulum
system. State feedback control designed by LQR is also done for stabilization of the
pendulum