hw3_ece238_F11

hw3_ece238_F11 - ECE 238 Advanced Control Design Laboratory...

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ECE 238 Advanced Control Design Laboratory Fall 2011 (Last revised Oct.27, 2011) Page 1 of 4 HW 3 Homework 3 – State Estimation and Project Proposal Due Nov. 4, 2011 This homework involves two parts. 1) In part I, you are asked to use MATLAB to simulate a passive pendulum that measures angular position as an output. This measurement is corrupted by an unknown encoder offset, analogous to the offset our encoders in lab have (since the encoders are not indexed). Your system will have three states: measured angle (i.e., angle minus offset), angular velocity, and angle offset (which remains constant). The actual pendulum angle is the sum of the first and third states. The system will have one output: measured angle (state 1, only). Parameters: Assume the plant has an undamped natural frequency of 10 rad/s, with damping ratio (zeta) of 0.02. Assume the actual encoder offset is a constant 10 degrees. Assume the
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hw3_ece238_F11 - ECE 238 Advanced Control Design Laboratory...

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