The object of the assignment is to become acquainted to many different feedback control systems, to asses their advantages or disadvantages. The work with several tools to analyze the stabilisation, like the frequency response characteristic, pole zero map, or the root locus should show us whichever could be a favourite.

The seesaw and the inverted pendulum are well test objects, because of their instability. Both models must be hold around a steady point as possible. These is realised by a cart, which is driving on a track. While the seesaw can be hold around several angles, the inverted pendulum only can go upright. These problems are standard problems at feedback control, which are solved by classic, state, fuzzy and LQR-control. On all of the used control methods we could get more or less a rugged closed loop. With some of the methods it has been hard to get a positive result.

To demonstrate the feedback control, two mechanical models exists, which are controlled by WinCon, a real-time program from Quanser. That program generates a C-Code by means of a Simulink-File. This code pilot the plant. The advantage of WinCon is given by the easy handling, because the feedback control can be realised by usual block diagrams from Simulink. Without implementation of hardware, you can give the full concentration to feedback control. Using WinCon needs some patience and the reading of the manual. Then it facilitates the controlling.

To achieve a judiciously control, an accurate modellising of the plant is important. For this, a good knowledge at physics and mathematic is useful. The friction, which is mainly from the track, shall be observed. On that, they aren?t trivial at all. For an exact analysis of friction it needs educated knowledge.