engleski

Pneumatic inverted wedge

The paper describes the inverted wedge actuated by the pneumatic cylinder. It can be considered as a two degrees-of-freedom planar robot, which is controlled by a single control input (movement of the slider) in order to keep the frame of the wedge in balance. Only one measured variable (angle of the frame) was anticipated, hence an observer was necessary to control this model using state controller. The nonminimum-phase characteristic and pneumatics make control of described system even more challenging. Thus, this model offers great possibilities as an experimental device in control education.

Control education; Experiments; Laboratory model; Mechatronics; Nonminimum-phase system; Observer; State controller

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