matlab大作业-平衡杆小球位置控制系统-华中科技大学.docVIP

MATLAB语言、控制系统分析与设计 大作业 平衡杆小球位置控制系统 设计与仿真 专 业：电气工程及其自动化 班 级： 设 计 者： 学 号： 华中科技大学电气与电子工程学院 2008年1月 平衡杆小球位置控制系统设计与仿真 一、问题描述与实验要求 A ball is placed on a beam, see figure below, where it is allowed to roll with 1 degree of freedom along the length of the beam. A lever arm is attached to the beam at one end and a servo gear at the other. As the servo gear turns by an angle theta, the lever changes the angle of the beam by alpha. When the angle is changed from the vertical position, gravity causes the ball to roll along the beam. A controller will be design