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GraduateSeminar-10December2009

GraduateSeminar-10December2009 - MWP what’s that Progress...

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Unformatted text preview: MWP, what’s that? Progress in the Field Modeling Control Experimental Realization Conclusions & Further Research Interests Mobile Wheeled Pendulums: Applications, Modeling, Control and Experimental Realization Danielle Sami Nasrallah, Eng., M. Eng., Ph.D. Eng. ECE Graduate Seminar Electrical and Computer Engineering Department Faculty of Engineering and Architecture American University of Beirut Beirut, Lebanon December 10, 2009 Danielle S. Nasrallah - ECE Graduate Seminar - Dec. 10, 2009 MWP: Applications, Modeling, Control and Experimental Realization MWP, what’s that? Progress in the Field Modeling Control Experimental Realization Conclusions & Further Research Interests Outline 1 MWP, what’s that? 2 Progress in the Field 3 Modeling State-Space Formulation Model Reduction 4 Control Controllability Study Three-Loop Control Scheme 5 Experimental Realization Parameters Computation Actuators Sensors Real-time Control Demos 6 Conclusions & Further Research Interests Danielle S. Nasrallah - ECE Graduate Seminar - Dec. 10, 2009 MWP: Applications, Modeling, Control and Experimental Realization MWP, what’s that? Progress in the Field Modeling Control Experimental Realization Conclusions & Further Research Interests Outline 1 MWP, what’s that? 2 Progress in the Field 3 Modeling State-Space Formulation Model Reduction 4 Control Controllability Study Three-Loop Control Scheme 5 Experimental Realization Parameters Computation Actuators Sensors Real-time Control Demos 6 Conclusions & Further Research Interests Danielle S. Nasrallah - ECE Graduate Seminar - Dec. 10, 2009 MWP: Applications, Modeling, Control and Experimental Realization MWP, what’s that? Progress in the Field Modeling Control Experimental Realization Conclusions & Further Research Interests MWP, what’s that? Mobile Wheeled Pendulum Robot Non-Inverted Pendulum Danielle S. Nasrallah - ECE Graduate Seminar - Dec. 10, 2009 MWP: Applications, Modeling, Control and Experimental Realization MWP, what’s that? Progress in the Field Modeling Control Experimental Realization Conclusions & Further Research Interests MWP, what’s that? Mobile Wheeled Pendulum Robot Non-Inverted Pendulum Danielle S. Nasrallah - ECE Graduate Seminar - Dec. 10, 2009 MWP: Applications, Modeling, Control and Experimental Realization MWP, what’s that? Progress in the Field Modeling Control Experimental Realization Conclusions & Further Research Interests MWP What’s that? Mobile Wheeled Pendulum Robot Inverted Pendulum Danielle S. Nasrallah - ECE Graduate Seminar - Dec. 10, 2009 MWP: Applications, Modeling, Control and Experimental Realization MWP, what’s that? Progress in the Field Modeling Control Experimental Realization Conclusions & Further Research Interests MWP What’s that?...
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