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Role of Automated Symbolic Generation of Plant Models in Control Education

[+] Author Affiliations
Sumit Tripathi, Hrishi Shah, Leng-Feng Lee, Venkat Krovi

State University of New York at Buffalo, Buffalo, NY

Paper No. DSCC2010-4070, pp. 679-686; 8 pages
doi:10.1115/DSCC2010-4070
From:
  • ASME 2010 Dynamic Systems and Control Conference
  • ASME 2010 Dynamic Systems and Control Conference, Volume 2
  • Cambridge, Massachusetts, USA, September 12–15, 2010
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4418-2 | eISBN: 978-0-7918-3884-6
  • Copyright © 2010 by ASME

abstract

A critical precursor to deployment of model-based controllers for articulated-mechanical-systems is availability of a systematic means for generating plant-model-equations. However, the complexity and tractability of generating and analyzing models serves to limit the size of the chosen examples. Hence, we examine the use of contemporary symbolic-computation tools to assist with the automated symbolic equation generation and subsequent analysis to support control systems course work. In particular, we seek to establish linkage between traditional-approach and block-diagram-based symbolic-modeling and controller-development. The Furuta Pendulum example allows us to showcase the emergence of model-complexity, even in relatively-simple two-jointed mechanical system, while studying various aspects of model-creation, model-linearization and model-based controller development in a timely manner.

Copyright © 2010 by ASME

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