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master's thesis
Modelsko prediktivno upravljanje laboratorijskim mehatroničkim sustavom
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. urn:nbn:hr:168:941442
Marijan, Livio
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Marijan, L. (2022). Modelsko prediktivno upravljanje laboratorijskim mehatroničkim sustavom (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:941442

Marijan, Livio. "Modelsko prediktivno upravljanje laboratorijskim mehatroničkim sustavom." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:941442

Marijan, Livio. "Modelsko prediktivno upravljanje laboratorijskim mehatroničkim sustavom." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:941442

Marijan, L. (2022). 'Modelsko prediktivno upravljanje laboratorijskim mehatroničkim sustavom', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 12 July 2024, https://urn.nsk.hr/urn:nbn:hr:168:941442

Marijan L. Modelsko prediktivno upravljanje laboratorijskim mehatroničkim sustavom [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2022 [cited 2024 July 12] Available at: https://urn.nsk.hr/urn:nbn:hr:168:941442

L. Marijan, "Modelsko prediktivno upravljanje laboratorijskim mehatroničkim sustavom", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:168:941442

Metadata
TitleModelsko prediktivno upravljanje laboratorijskim mehatroničkim sustavom
Title (english)Model predictive control of a laboratory mehatronic system
AuthorLivio Marijan
MentorBranimir Novoselnik (mentor)
Committee memberBranimir Novoselnik (član povjerenstva)
Committee memberMato Baotić (član povjerenstva)
Committee memberVinko Lešić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2022-07-14, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
U diplomskom radu dan je kratak pregled korištenog laboratorijskog postava te je detaljno izveden nelinearni matematički model Furuta njihala. Model je zapisan u prostoru stanja, lineariziran oko uspravnog i viseceg položaja te diskretiziran. Projektirani su diskretni linearni kvadratni regulator (DLQR) te regulator koji ostvaruje modelsko prediktivno upravljanje (MPC regulator). Dana je teorijska pozadina te je opisan postupak implementacije navedenih regulatora. Oba regulatora su simulirana u Simulink okruženju unutar programskog alata Matlab. Prikazani su i komentirani odzivi uz linearizirani diskretni model i nelinearni kontinuirani model procesa za uspravni i viseći položaj njihala. Ovako projektirani regulatori osiguravaju dobre karakteristike vladanja i na stvarnom laboratorijskom postavu.
Abstract (english)
In the masters thesis, a brief overview of the used laboratory system is given, and a nonlinear mathematical model of the Furuta pendulum is thoroughly derived. The model is expressed in a state space form, linearized around the upright and downward positions, and discretized. A discrete linear quadratic controller (DLQR) and a model predictive control controller (MPC controller) were designed. In addition, the theoretical background of these regulators is described, as well as the implementation procedure. Both controllers were simulated in the Simulink environment of the Matlab software. Responses with a linearized discrete plant and a nonlinear continuous plant for upright and downward positions are presented and commented. Regulators designed in this way ensure good performances of the closed loop system when tested on the real laboratory system.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:941442
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2023-01-14 09:25:23