mmcza / Levitating-ball_Control-Theory-Project

A project for 5th semester course Control Theory (Teoria Sterowania)

Control of a magnetic levitating ball

Prepared together with @dariak153.

Note

To run the models you need Matlab 2022a with Simulink installed.

List of tasks:

Tasks 1 and 2:

• Create the model and calculate matrices A, B, C, D.
• Check Controllability and Observability of the system.

Task 3:

• Calculate transfer function of the system given matrices A, B, C, D from previous task.

Task 4:

• Calculate factors for Full State Feedback Controller.
• Calculate factors for FeedForward.
• Calculate eigenvalues of the closed system.

Task 5:

• Create a state observer for the system.

Task 6:

• Create a Full State Feedback Controller for a discrete system.

Task 7:

• Calculate controllable canonical form for the system.
• Calculate diagonal form for the system.

Learn more

To learn more about the levitating ball you can read [1].

References

[1] Sterowanie układem lewitacji magnetycznej w warunkach zakłóceń stochastycznych [(]Control of the Magnetic Levitation System in Conditions of Stochastic Disturbances], Mrotek M., Szymankiewicz A., Michalski J. and Kozierski P., Pomiary Automatyka Robotyka, 2022, 26.3., http://doi.org/10.14313/PAR_245/5