Week 2: Controller Design
Posted: Mon Apr 13, 2009 1:31 pm
For this week:
- Use the data from your system identification experiments to determine the transfer function from the duty cycle to the pendulum position for the inverted pendulum.
- Design a lead-lag controller to stabilize the system. You are free to determine the specifications for a step input, but indicate what they are designed to be.
- Program an interrupt to occur at a given frequency (nominally, 20Hz). Verify this by printing a number to the lcd every second by counting how many times the interrupt occurs. Increment what you print to the lcd by one each time, so it basically counts seconds. Next week, this will be the main control interrupt for your program. DO NOT use the output compare interrupts that are already used for the PWM. These need to keep occurring at their defined frequencies.