Control Systems: Discrete & Robust Control Solutions
VerifiedAdded on  2022/08/20
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Homework Assignment
AI Summary
This document presents a comprehensive solution to a control systems assignment. The solution begins with the discretization of a linear system, deriving the F and Q matrices for the discrete-time state equations. It then addresses the conversion of a difference equation into a state-space representation. The core of the solution involves the design of a robust sliding mode controller for a linear time-invariant (LTI) system, including the derivation of the controller equation and simulation results using MATLAB. Finally, the assignment explores system identification techniques applied to a robotic arm modeled as a second-order system, presenting both discrete and continuous-time transfer function models derived from experimental data and system identification toolbox, along with their respective outputs. The solution demonstrates the application of various control techniques and modeling approaches.
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