Furuta Pendulum Balancing Control and Disturbance Rejection via State-Observer Feedback and Internal Model Design
Project overview
This project aims to stabilise the Furuta pendulum system by the design of state-observer feedback controller. An internal model is proposed to reject the sinusoidal process noise in the input signal of maxon motor. The simulation of system dynamics and code implementation of control algorithm are done using Simulink, Simscape, and MATLAB.
Project report in PDF
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