The idea of the practicum is to build a controller for a mechanical system. There are 4 systems available: the Inverted Pendulum (IP), the Rotary Inverted Pendulum (RIP), the Seesaw (SS) and the Rotary Flexible Joint (RFJ). The practicum can roughly be divided in 3 parts:

• Building a simulink model of the mechanical system and designing an LQR-controller in simulink.
• Testing the controller on the true mechanical system (in room ESAT Lab 02.50).
• Further tuning if necessary and writing a report about your work. Dedicate an important part of your report to explaining the differences between the behavior of the controller in the simulation and on the true mechanical system.

In order to be able to test your controller on the true setup you will have to make a reservation in our reservation system. At each moment only 2 of 4 setups can be installed simultaneously in room ESAT Lab 02.50. We have made an initial list of timeslots and setups that will be available. Use the reservation database to put your group number in a set of desired timeslots. If you think you have a good reason to make changes in the list of timeslots, add or remove slots, send us a well motivated request. It is also good practice to inform Fernando before coming to the practicum to make sure that the door will be open and the setup in place.

• You should only make a reservation when you need to try out your control design on the real physical setup, that is, when you are addressing the section 3 of your assignment, "The Proof of the Pudding". There is no point to reserve the lab when you are still working on the first two sections that can be perfectly done in a computer room or with your PC/Laptop. For more info, please check the section "Assignments/Practical Sessions/in brief, what you have to do in the practical sessions" in Toledo.
  
  
• Please, do not reserve excessive amounts of slots, and cancel any remaining reserved timeslots once your practicum has finished. The state of the database will be regularly checked. Abuse of the system will not be tolerated.
  
  
• In order to use the PCs in the Lab you need to have an ESAT account. You can create an ESAT account by following the instructions given in this page: https://www.esat.kuleuven.be/onderwijs/studenten/studentenaccount-werkwijze.pdf. You must be officially enrolled in the course to follow those steps.
  
  • How to login?
    • Username: LUNA\rxxxxxxx
    • Password: (your Luna domain password)

IMPORTANT (Please read carefully)

• For the section 3 of your assigment, i.e., "The Proof of the Pudding", it is necessary to use the templates provided and Matlab 2021b and Simulink 10.4. You MUST open such templates using only the mentioned Matlab version (which is the one installed in the PCs of the Lab) in order to avoid compatibility problems. So, do not open the templates with a different Matlab version.
  
  
• Update of the Manuals . In the current manuals, it is said that in order to run the real-time Simulink diagram you have to follow three steps, namely, "Build Model", "Connect To Target" and "run". However, this is no longer needed! Now things are way easier. The only thing that you have to do is to click the "Play" button in the tab "DESKTOP REAL-TIME".
  
  

Group Number	Setup	Student 1	Student 2
1	IP	Noa Pauwels	Thomas Martens
2	RIP	Jasper Visterin	Senne Chiang
3	RFJ	Rick de Kroon	Basil Liekens
4	SS	Zakaria Loukili	Mohammed Andiche
5	IP	Zander Van Den Bosch	Loic de Wit
6	RIP	Aline Hartgers	Sabrine Chentouf
7	RFJ	Anna Proost	Andries Macken
8	SS	Lander Van Hevel	Ruben Leenknecht
9	IP	Lise Guilliams	Matisse Teuwen
10	RIP	Antoine Lemaire	Victor Lepere
11	RFJ	Iskander Van Heuckelom	Yassin El Mars
12	SS	Thomas Varheust	Simon Desimpelaere
13	IP	Niels Vanhamel
14	RIP	Arwen Mannaert	Matija Tomic
15	RFJ	Matthias Van Eysendeyk	Karel Tuyaerts
16	SS	Hadrien Nobels	Clemence Duplat
17	IP	Ruben Min Jou	Henri Vermeersch
18	RIP	Leonie Van Pottelberghe	Ben Poelmans
19	RFJ	Izabela Trepacova	Aram Lissens
20	SS	Jonas Eerdekens	Maurice Menu
21	IP	Lode Keppens	Alexandre Haverbeke
22	RIP	Ruben Janssen	Tjorben Godeau
23	RFJ	Simon Haepers
24	SS	Tudor Horia Niculescu
25	IP	Margot Devillers	Marielle Smith
26	RIP	Vladimir Kitanovski	Jose Rouxinol
27	RFJ	Corentin Bonte
28	SS	Joppe De Boe

IP = Inverted Pendulum.
RIP = Rotary Inverted Pendulum.
RFJ = Rotary Flexible Joint.
SS = Seesaw.

Notice:  If someone is not in the list, please let us know (zahrasadat.sajjadifar@kuleuven.be).

Last update: Wed, 1 Feb 2023 10:00:00

Assignment

ip_man.pdf

Data files

template_inverted_pendulum_2021b.slx

Assignment

rip_man.pdf

Data files

template_rotary_inverted_pendulum_2021b.slx

Assignment

ss_man.pdf

Data files

template_seesaw_2021b.slx

Assignment

rfj_man.pdf

Data files

template_rotary_flexible_joint_2021b.slx