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project1 - ECE147C/ME106A Project#1 Two-cart with spring...

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Unformatted text preview: ECE147C/ME106A Project #1: Two-cart with spring Jo˜ ao Hespanha and Bassam Bamieh April 12, 2007 Abstract The first project aims at illustrating the concepts covered in the identification lec- tures. This document provides a general description of what you are expected to do before and during the corresponding lab sessions. It also serves as a “template” both for the first and final project reports. [Report] The abstract of a report should consist of one or two paragraphs summarizing Sidebar 1. Throughout this document you will find information about what the report should include in the paragraphs labeled [Report] . the content of the whole document. It should focus on the key project achievements. 1 Introduction The goal of this lab project is to acquire experience in system identification, both parametric and non-parametric. The first part of the project is focused on parametric identification of a two-cart system, whereas the second part of the project is about nonparametric identification of a Rijke tube. The portion of the project devoted to the two-cart system will allow you to carry out the entire control design process, which consists of: 1. experimental identification, 2. controller design, 3. closed-loop testing (and redesign if needed), 4. documentation of the project. The portion of the project devoted to the Rijke tube will allow you to understand the issues involved in identifying unstable systems and system identification validation. This document does not provide you detailed information about the Rijke tube experiment. This will be provided later. You will have significant autonomy in choosing the experiments that you will perform in the lab but your report will have to demonstrate that you understand the topics covered in the lectures. You are expected to turn in the following: 1. Solutions to the problems in the lecture notes (on a weekly basis). 2. A lab report that summarizes your results both for the two-cart system and the Rijke tube. Keep the report short! Your grade will reflect your ability to provide all the Sidebar 2. E.g., do not give “ten” Bode plots one for each identification experiment, but instead provide one plot with “ten” curves (properly labeled). You will be graded on the quality of the report as a document not just on its content. information needed in a concise format. This document serves a dual purpose: it provides a general description of what you are expected to do before and during the lab sessions and it also serves as a template for the lab report that you will need to turn in the middle of the quarter. The final project report (due at the end of the quarter) should also follow this basic template.report (due at the end of the quarter) should also follow this basic template....
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project1 - ECE147C/ME106A Project#1 Two-cart with spring...

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