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The effect of discretization of continuous-time state space models using MATLAB/Simulink

Abdul Kadir, Herdawatie and Abd Wahab, Mohd Helmy and Mohamad Mohsin, Mohd Farhan and Tomari, Md. Razali The effect of discretization of continuous-time state space models using MATLAB/Simulink. Compilation of Papers 2009 - VOLUME 2.


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Discrete-time dynamical systems are often expected to follow certain continuous-time models. Motivated by the importance and occurrence of analog systems and signals, as well as by associated engineering experience, the method of carrying out continuous design prior to digital mechanization is quite common Since there is no unique equivalence between the continuous-time and discrete-time systems, various techniques are used to convert an analog system into an approximate digital model. This study discuss a mathematical model of a balancing robot and control system using digital state space approach due to the capability of the state space approach to handle coordination of multiple variables automatically. In order to analyze and design the control system, the dynamic of model was first establish in discrete time. Two types of controllers, namely Pole Placement and Linear Quadratic Regulator (LQR) controller are considered in this work in order to validate that the digital state space approach in controlling a balancing robot. The research work has confirmed that the by selecting an appropriate sampling time for the selected controller will produce identical results as compared to continuous state space approach in controlling displacement and angle of balancing robot.

Item Type: Article
Subjects: Q Science > QA Mathematics
Depositing User: Normajihan Abd. Rahman
Date Deposited: 06 Jun 2012 03:29
Last Modified: 06 Jun 2012 03:29
URI: http://eprints.uthm.edu.my/id/eprint/2499
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