Mid Term project and Challenge offered to CASE Pakistan Students by Dr Imran Akhtar as part of the graduate course on Linear Systems and Control. Segw...
Center for Advanced Studies in Engineering Department of Electrical Engineering Midterm Project, Spring 2013 Linear Systems & Control Instr: Imran Akhtar Due Date: Apr 26, 2013
Max Marks: 100 PROJECT STATEMENT
CARE Pvt Ltd is performing an initial study to design and develop a two-wheeled transporter, such as a Segway. The preliminary step is to design and analyze its dynamics and control. Being a potential A-grade student, you have been hired to model Segway approximating it as an inverted pendulum. You have two weeks to submit a report on the model after completing the following tasks: 1. Discuss the advantages and applications of Segway. 2. List assumptions and limitations of modeling the Segway as an inverted pendulum. 3. Develop a mathematical model (equation of model) for an inverted pendulum 4. Develop its state-space model for the problem after applying necessary assumptions and approximating its design parameters. 5. Develop its transfer function. 6. Discuss various categories of realizations with simulation diagrams. 7. Compute the state-transition matrix. 8. Discuss the stability, controllablity, and observability your design. 9. Numerically simulate the model (without control) with different initial conditions to ascertain damage in case of control failure. 10. Comment on the effect of mass and moment of intertia on the dynamics.
After successfully performing YOUR analysis, you plan to report your findings in a leading Conference. Write a preliminary research paper strictly following IEEE template (MS word or Latex) with the following sections: 1. Title, Author, Affiliation, and Abstract [5] 2. Introduction [20] 3. Mathematical Model [30] 4. Results and Discussion [30] 5. Conclusion [5] 1
6. Acknowledgment (if any) 7. Bibliography (at least 5 references) [5] 8. Appendix (print your code) [5] IMPORTANT NOTES: 1. Page limit for the research paper is minimum 4 pages and maximum 8 pages excluding Bibliography and Appendix. 2. Submit a single pdf file with the format of “#Y OU RN AM E#−M IDT ERM −LSC2013.pdf ”. 3. The paper will be reviewed with following possible decisions: (a) Accepted (95% or above) (b) Accepted with Minor Revisions (80% or above) (c) Accepted with Major Revisions (50% or above) (d) Rejected (below 50%) 4. Use of any unfair means, including copying or helping others in copying, will result in REJECTION of the paper.
