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ECE 194d
Lab 6
Spring 2011
Prof. Katie Byl
Page 1 of 1
UCSB
Lab 6.
”Segway” Inverted Pendulum Robot.
Deliverables:
Each lab group must submit a
short
(~34 page) Lab Report, processing data collected during
Lab 5, by 5pm Wed., May 11 (in the dropbox).
Include the following:
1.
Include your derivation of the equations of motion, via paper calculation or MATLAB
code (using the symbolic toolbox and fulldiff). Be sure to list model parameters you used,
as well as the resulting A and B matrices (numeric values) for the modeled plant.
2.
Also clearly specify your controller gains, i.e., the values in vector K, and how you
obtained them. For example, if you used the
lqr
function in MATLAB, also document
your Q and R matrices in your report. Or, if you used the “
place
” command (or
“
acker
”) in MATLAB, be sure to document your closedloop pole locations.
3.
What were the modeled openloop poles?
And what are the expected closedloop poles?
4.
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 Fall '09

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