Using MATLAB and Simulink for Control System Simulation and ...

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Nonlinear System Simulation G(s) may be replaced by a nonlinear block
What You Need to Do Turn your qualitative spec into more quantitative spec in terms of speed and precision, ability to reject disturbance, etc. Develop a Simulink diagram for your design iteration. • Use the Simulink diagram on-line as a starting template. • Add motor and gear parameters to the pan-tilt skeleton (generate composite m, I, p for each body). • Use your design parameters for simulation. • Desired input should be based on your spec. • You need to tweak the controllers also (e.g., gravity compensation, removing the mass matrix coupling, tune gains for each axis, avoid saturation, etc.)
Page 1 and 2: Using MATLAB and Simulink for Contr
Page 3 and 4: Last Time Equation of motion for dy
Page 5 and 6: MATLAB • Vectors: theta=[theta_1;
Page 7 and 8: Application to Pan-Tilt Platform pa
Page 9 and 10: Linearization Equation of motion is
Page 11 and 12: Linearization: General Mechanical S
Page 13 and 14: Description of LTI Systems Frequenc
Page 15 and 16: Open Loop Linear System Response Im
Page 17 and 18: Simulink Instead of command line en
Page 19: Adding Sampling to Simulink Diagram

Using MATLAB and Simulink for Control System Simulation and ...

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