QUBE-Servo Inverted Pendulum Model (Furuta Pendulum)
by Mitch Levis
This worksheet derives the linear differential equations, state-space model, and transfer function models from the nonlinear equations of motion of a generic rotary inverted pendulum. The Quanser QUBE-Servo parameters are then used to run some basic stability analysis, perform LQR, and simulate a closed-loop step response. The transfer function model is can then be exported to a Matlab m-file (*.m) to be used in the MathWorks Matlab/Simulink environment.
State feedback with inertial delay control for active suspension system
by Abhijit Bhowmik
A state feed back controller with Inertial delay control is designed for Active suspension system. Inertial delay control estimates the disturbances and sate feedback controller controls the states. The controller is verified on Active suspension laboratory setup , provided by QUANSER. A paper is accepted for publication in IEEE conference (ICIC 2015). Tags: Active suspension State feedback controller Inertial delay Control
Documentation, software and other media developed by The undersigned (the "Author"), wishing to submit said authored Content ("The Content"),
to this website for publication agree to the following terms:
a) The Author grants to Quanser a non-exclusive, perpetual License and right to use all or any part of the Application, to modify or adapt the Application for the promotion of Quanser.
b) The Author represents that the Application is the original work of the Author, the Author has the right to grant a License to Quanser with respect to the Application, no other party has any right, title or interest in or to the Application, and that the use of the Application by Quanser will not infringe any intellectual property rights of any third party.
c) The Author agrees to execute such documents and take such other action as Quanser may request in order to give effect to the intention of this License Agreement. This License Agreement shall be binding upon and inure to the benefit of the Author, and all heirs, executors, administrators, successors and permitted assigns of the Author.
Persons ("Users") wishing to download Content from QuanserSahre hereby agree that files and media, may not be used or copied except as specified under the following license agreement.
Documentation submitted to Quanser Inc. for publication on "QuanserShare" will be openly distributed without any guarentees as to its accuracy or functionality.
Authors, and Quanser Inc. are not liable for any damages resulting from the use of this material
Authors hereby agree to grant the following rights to Content Users:
a) The right to reproduce the work, to incorporate the work into one or more collections, and to reproduce the work as incorporated in the collections,
b) to create and reproduce adaptations provided reasonable steps are taken to clearly identify the changes that were made to the original work,
c) to distribute and publically perform the work including as incorporated in collections, and
d) to distribute and publicly perform adaptations. The above rights may be exercised in all media and formats whether now known or hereafter devised.
These rights are granted subject to and limited by the following restrictions:
a) You may not exercise any of the rights granted to You in above in any manner that is primarily intended for or directed toward commercial advantage or private monetary compensation, and
b) You must keep intact all copyright notices for the Work and provide the name of the author for attribution.
These restrictions may not be waved without express prior written permission of the authors, including Quanser Inc.
Should you have any questions concerning the Terms and Conditions, contact Quanser Inc. at:
Attn: Customer Service
119 Spy Court, Markham, ON, L3R5H6, Canada.