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Unformatted text preview: University of California, Santa Barbara Department of Electrical & Computer Engineering ECE 147C Lab 2: Flex-Cart System with Pendulum This lab is meant to practice methods of model identification 1 Setup A motor cart is connected to another cart and a pendulum is hanging down from the motor cart. The system input is the cart motor, and both the pendulum position and the non-motor cart position should be read as outputs. 2 Introduction The purpose of this lab is to do an identification of the transfer functions from voltage input to pendulum position, and from voltage input to non-motor cart position. Perform both a parametric and a frequency response (ie. non-parametric) identification of the plant. From there, a closed loop controller will be designed to bring the pendulum to its stable equilibrium as fast as possible and a second controller will be designed to bring the carts to a specific position (ie. follow a reference step)....
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- Spring '07
- Signal Processing, Nyquist plot, Santa Barbara Department of Electrical & Computer Engineering