State-space Control Design and Realization

Abstract

This diploma thesis deals with design and realization of state space controller and observer for different systems. The introduction explains the fundamentals of state space theory, calculation and design of controllers and observers. Two unique systems are chosen and the specific controllers are designed. One of the unique system is the triple inverted pendulum for which laboratory model is described and the mathematical model is designed from the basic mathematical model of simple inverted pendulum. The simulation model for triple inverted pendulum is compared with the laboratory model and their correctness is verified in MATLAB/Simulink environment. The conclusion summaries of the work done, their correctness and the future steps.