EE C128 / ME C134 Feedback Control Systems Lab (Fall 2011)

EE C128/ME C134 Main page

Lab Guidelines

EE128 Lab Policies

Justin's Guide to Good Lab Writing

Useful MATLAB Commands

Common Simulink Components

Lab Documents

Lab 1 Intro to MATLAB and Simulink

Lab 2 Quanser Hardware and Proportional Control

Lab 3 Model-based Position Control of a Cart

Lab 4 Magnetic Levitation
Tips
Link to AD822 datasheet
Demo Video (Youtube, Download)

Lab 5a Pole Placement for the Inverted Pendulum
Tips
Simulink block for dynamic saturation

Lab 5d Self Erecting Inverted Pendulum Tips

Demo Video (Youtube, Download)

Lab 5b Luenberger Observer Design for Inverted Pendulum

Lab 5c LQR Controller Design for Inverted Pendulum

Useful Tips

  1. For the simulation (not hardware experiment) of continuous time system in Simulink, use "ode4" or "ode5" in your Simulink model instead of "ode1" for more accurate simulation. You can also use fixed step size of 0.001(s) or smaller for simulation. (Simulink model -> Simulation -> Configuration Parameters... -> Solver -> ode4 or ode5, Fixed step size -> 0.001)