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Title: | Position control of ball in tube plant with model predictive controller | Authors: | Tran Quang Ky | Keywords: | Tube plant;Model predictive controller | Issue Date: | 2021 | Abstract: | This thesis presents the work done in the process of designing of a Model Predictive Controller for the physical system Ball in Tube. The process involves the modelling and identification of the system, construction of a simulation model with Simulink, formulation of the Model Predictive Control (MPC) problem into an optimization problem that can be solve online on an Arduino Mega 2560 microcontroller. A PID controller was also designed for comparison of the performance in the setpoint and trajectory tracking tasks. Both controllers were designed with Model Based design approach with Simulink and ready for implementation on hardware with Simulink coder |
URI(1): | https://epub.vgu.edu.vn/handle/dlibvgu/1704 |
Appears in Collections: | Mechatronics & Sensor Systems Technology (MSST) |
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Position control of ball in tube plant with model predictive controller.pdf | 7.62 MB | Adobe PDF |
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