Analysis and synthesis of a one joint robotic control system

Glavni problem kojim se bavio rad je sinteza sustava upravljanja koji će upravljati procesom na zadovoljavajući način. Nakon opisa procesa nelinearnim modelom i prijenosnom funkcijom izvršena je analiza procesa grafoanalitičkim i analitičkim metodama u programu MATLAB na temelju kojih je zaključeno kakav je regulator potreban za postizanje zadovoljavajućih rezultata. Sinteza regulatora je obavljena pomoću krivulje mjesta korijena. Nelinearni model procesa je prikazan pomoću funkcijskih blokova u Simulink programu pomoću kojih se vršila simulacija sustava upravljanja. Rezultati simulacija ukazuju na to da je sustav upravljanja uspješno projektiran. Main problem this paper dealt with was synthesis of control system which will control the process in a satisfactory manner. After describing the process with nonlinear model and transfer function graphoanalytical and analytical analysis was performed to determine what type of controller was necessary to achieve desired results. Controller synthesis was carried out using root locus method and control system simulation was done with nonlinear Simulink model of the process. Results have shown that control system was designed successfully.