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Analysis and control of a mechanical system through network transmitted data

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Author(s):
André Marcorin de Oliveira
Total Authors: 1
Document type: Master's Dissertation
Institution: Universidade Estadual de Campinas (UNICAMP). Faculdade de Engenharia Elétrica e de Computação
Defense date:
Examining board members:
Eduardo Fontoura Costa; João Bosco Ribeiro do Val
Advisor: Alim Pedro de Castro Gonçalves
Abstract

In this thesis, a performance study of H2 and Hoo markovian state feedback controllers is performed in a Furuta pendulum, also known as rotary inverted pendulum, in a simulated network environment subject to control signals packet dropouts. In this context, Furuta pendulum's non-linear equations are obtained analytically, and some tests were performed in a real model in order to identify its parameters. Finally simulations and experiments of state feedback markovian control are performed in three different markovian network channels: Gilbert-Elliot, Fritchman and McCullough (AU)