Apr 7, 2020   10:26 p.m. Zoltán
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prof. Ing. Boris Rohaľ-Ilkiv, CSc.
Identification number: 2463
University e-mail: boris.rohal-ilkiv [at] stuba.sk
Výskumný pracovník s VŠ vzdelaním - Institute of automation, measurement and applied informatics (FME)
External colleague - Institute of Applied Informatics, Automation and Mechatronics (MTF)
External colleague - Faculty of Chemical and Food Technology (STU)

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Basic information

Basic information about a final thesis

Type of thesis: Dissertation thesis
Thesis title:Predictive control of nonlinear mechatronic system
Written by (author): Ing. Pavol Seman, PhD.
Department: Institute of automation, measurement and applied informatics (FME)
Thesis supervisor: prof. Ing. Boris Rohaľ-Ilkiv, CSc.
Opponent 1:prof. Ing. Anton Vitko, PhD.
Opponent 2:prof. Ing. Juraj Spalek, PhD.
Final thesis progress:Final thesis was successfully defended.

Additional information

Additional information about the final thesis follows. Click on the language link to display the information in the desired language.

Language of final thesis:Slovak

Slovak        English

Title of the thesis:Predictive control of nonlinear mechatronic system
Summary:Predictive control has been one of popular methods of control in recent years. Its main advantage is implementation of system's constraints in the control algorithm and quality of control also tends to be higher than one of standard types of regulators such as PID. Therefore, the presented paper is focused on the area of predictive control. The aim of the paper is to show the possibility of application of methods of predictive control also to nonlinear systems with fast dynamics. Part of the paper is processed generally and the findings can be applied to various dynamic systems. Within this part are processed themes of modeling of systems and predictive control based on the stabilized prediction. The knowledge is verified on a laboratory model of a rotating pendulum. The paper continues with an overview of methods, by which it is possible to swing up inverted pendulum into setting of an unstable equilibrium position. Next, the paper passes into the practical part, where the issue of construction of a pendulum is elaborated with focus on the main elements such as drive and measurement. Construction of the pendulum is resolved so as to enable to construct a model of a rotating pendulum and also a model of pendulum in version of pendubot with the use of the same components. Based on this laboratory model are stated two ways, from which a mathematical model of the system derives. The first model is obtained by using the equations of motion, the second uses the tool SimMechanics of the software package MATLAB Simulink. In the end there is a statement of results obtained with the use of selected control strategies in order to swing up and stabilize of the pendulum.
Key words:mechatronic system, pendulum, predictive control

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Parts of thesis with postponed release:

Final thesis (final thesis appendices) unlimited
Reviews for final thesis unlimited