ENGP5302 Control and Instrumentation Assignment Discussion Questions 2024-25

ENGP5302 Control and Instrumentation

The Rotary Inverted Pendulum Coursework 2024-25

Introduction

Over the course of Block 3, you will have familiarized yourself with the Rotary Inverted Pendulum system, produced a mathematical model, performed simulated analysis and carried out experimentation.

The coursework involves the production of a report that reflects your work and observations. This report carries 25% of the module mark for ENGP5302.

Structure

You are to write a report based around your laboratory work and a discussion question. The report should contain a minimum of 20 figures.

The report should comply with the following structure:-

Title Abstract

I Introduction

II System Model:

The equations, the Simulink model figure and system hardware figure are essential.

III Controller Design:

1)Linearization
2)Open-loop stability: is there a need for control?
3)Controllability: is the linearized model controllable?
4)Observability: is the system observable? Why is there no observer in the system?
5)State-feedback design
6)Zero-pole map as a figure

IV Simulation with discussion:

1)Model simulation (1 structure figure, free response with 11 figures, forced responses with 1 figure)
2)Closed loop simulation (1 structure figure, 2 figures with/without disturbances)

V Experimentation with discussion:

Performance of hardware (minimum of 2 figures with/without disturbance)

VI Discussion question

VII Conclusion and Future works References.

Appendix: Please compose a self-assessment statement. Please self-validate each section of your report claiming your expected mark each part of this assessment with reasons.

Submission Details

Your report will need to be submitted via Turnitin. Please note that you can only submit your report once so please check your work carefully before submitting it, ensuring it is the right version to submit. The submission deadline is 12:00 noon, 26/03/2025. Your report mark will be released on 16/04/2024.

Academic Offences

Academic offences are taken very seriously and can result in penalties ranging from failure in a component or assignment to expulsion from the university. For more details, please see:

De Montfort University

Any evidence of plagiarism, collusion or cheating in coursework, or misconduct in the examination, will be treated very seriously and in the first instance lead to referral to the Academic Practice Officer.

Marking Scheme

Criterion Description

A1. Report Format (5 marks) The layout of the report, references, etc

A2. Abstract (5 marks) The abstract should describe the report sufficiently.

1. Introduction (10 marks) The introduction should include background, motivation and applications.

2. System Model (5 marks) Modelling of the inverted pendulum system

3. Controller Design (20 marks) Including linearization, open-loop stability, controllability,

observability, full state-feedback design with pole assignment, closed-loop poles/zeros analysis, etc.

4a. Simulation Results (15 marks) All the figures as simulation results should be shown in the report.

4b. Simulation Discussion (10 marks) The analysis and discussion of the simulation results.

5a. Experimental Results (5 marks) All the figures as experimental results should be shown in the report.

5b. Experimental Discussion (5 marks) The analysis and discussion of the experimental results.

6. Discussion question (10 marks) Analysis of the discussion question

Conclusion (5 marks) Concluding statement with future work / recommendations. A3. Appendix (5 marks) This should, at the very minimum, include a self-appr

Figures

For clarity, you are recommended to submit your traces on a white background. Some of your plots will contain 4 traces; please remember to label all traces.

Discussion Question

During the laboratory sessions, you will have calculated an array of K (state feedback) coefficients to stabilize the pendulum. The LabView set-up has K coefficients programmed into its default configuration. Using your knowledge and simulation skills to evaluate both configurations, which of the two configurations provides the best solution and why?

DETAILED MARKING SCHEME