Ballbot robust stability analysis and validation script
Developement report on the link
- Nonlinear model synthesis with distrubances
- Parametric linearisation
- Parametric uncertainty introduction optimisation based worst case search
- Disturbance rejection and noise attenutation
- H-infinity controller synthesis based on linear systems based on worst case system
- Comparison of behavior with nonlinear model Created January 2020 by Antun Skuric
- Download the directory to your pc and open matlab in the same directory.
git clone https://github.com/askuric/BallBot.git- To run just open in matlab window the live script
ballbot_analysis_live.mdxand follow the execution. Be aware that it may take some time to execute completely. 10-20 minutes
ballbot_analysis_live.mdx- If you want to run analysis of already optimised and calculated values of controllers the live script
ballbot_analysis_example_live.mdxand follow the execution. 4 In order to run this script you need to haveexample_worspace.matfile with correspondingexample_generatedforlder. Be aware that it may take some time to execute completely. 10-20 minutes
ballbot_analysis_example_live.mdxBallBot
│ README.md
| ballbot_analyisis_live.mdx # Matlab script running the analysis
| ballbot_analyisis_example_live.mdx # Matlab script running the precalculated analysis
| example_worspace.mat # Mat file containing one precalcualted workspace
| Ballbot robust analysis report.pdf # Project report
| H-ininfity equations and system descriptionexplanation.pdf # H-infinity system representation expalnation
└─── visualtisation # Helping functions for visualisation
└─── optimisation # Helping functions for optimisation
└─── figures # Figures used in the report "Ballbot robust analysis report.pdf"
└─── documentation # Papers, scripts and documents used for analysis
└─── example_genearted # Folder containing the example generated functions and system model equations
React
Typescript
Django
Laravel
Facebook
Microsoft
Google
Alibaba
D3
Tencent