prikaz prve stranice dokumenta Projektiranje sustava upravljanja laboratorijskim postavom obrnutog njihala primjenom postupka postavljanja polova
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undergraduate thesis
Projektiranje sustava upravljanja laboratorijskim postavom obrnutog njihala primjenom postupka postavljanja polova
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. urn:nbn:hr:168:281085
Radas, Jere
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Radas, J. (2018). Projektiranje sustava upravljanja laboratorijskim postavom obrnutog njihala primjenom postupka postavljanja polova (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:281085

Radas, Jere. "Projektiranje sustava upravljanja laboratorijskim postavom obrnutog njihala primjenom postupka postavljanja polova." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. https://urn.nsk.hr/urn:nbn:hr:168:281085

Radas, Jere. "Projektiranje sustava upravljanja laboratorijskim postavom obrnutog njihala primjenom postupka postavljanja polova." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. https://urn.nsk.hr/urn:nbn:hr:168:281085

Radas, J. (2018). 'Projektiranje sustava upravljanja laboratorijskim postavom obrnutog njihala primjenom postupka postavljanja polova', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 18 February 2025, https://urn.nsk.hr/urn:nbn:hr:168:281085

Radas J. Projektiranje sustava upravljanja laboratorijskim postavom obrnutog njihala primjenom postupka postavljanja polova [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2018 [cited 2025 February 18] Available at: https://urn.nsk.hr/urn:nbn:hr:168:281085

J. Radas, "Projektiranje sustava upravljanja laboratorijskim postavom obrnutog njihala primjenom postupka postavljanja polova", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2018. Available at: https://urn.nsk.hr/urn:nbn:hr:168:281085

Metadata
TitleProjektiranje sustava upravljanja laboratorijskim postavom obrnutog njihala primjenom postupka postavljanja polova
Title (english)Control of inverted pendulum laboratory process using pole placement controller
AuthorJere Radas
MentorJadranko Matuško (mentor)
Committee memberJadranko Matuško (predsjednik povjerenstva)
Committee memberŠandor Ileš (član povjerenstva)
Committee memberAntun Skurić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2018-09-06, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Još od druge polovice prošlog stoljeća, sustav obrnutog njihala predstavlja važan referentni model u području teorije upravljanja. Kao nelinearan i nestabilan sustav omogućava implementaciju raznih metoda upravljanja s ciljem balansiranja njihala u ravnotežnom stanju. U ovom radu korištena je metoda postavljanja polova zatvorenog sustava pomoću povratne veze. Nakon realizacije ove metode, sustav upravljanja je nadograđen estimatorom stanja uz pretpostavku da neke od veličina stanja sustava nije moguće izmjeriti. Sustav upravljanja sintetiziran na ovaj način naziva se linearni kvadratni Gaussov kontroler. Njegovo glavno svojstvo je da je on idealni kontroler za sustave s niskim stupnjem smetnji i šumova, kao što je u ovom primjeru obrnutog njihala postavljenog u laboratorijskim uvjetima.
Abstract (english)
Since the second half of the last century, inverted pendulum system represents an important benchmark in control theory. As a nonlinear and unstable system, it allows various methods of control to be implemented on itself with the goal of balancing the pendulum to its equilibrium position. Method that was used for this paper is the method of closed-loop pole placement using feedback control. After the realization of this method, the control system was upgraded with a full-state estimator, with the assumption that some of the state values could not be measured. A control system synthesized this way is called a linear quadratic Gaussian controller. Its main feature is that it is the ideal controller for systems with low disturbance and noise rate, like in this example of an inverted pendulum placed in laboratory conditions.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:281085
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2019-03-14 00:17:10