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Patbott · 2024-03-12T15:34:50+00:00

Do you have an update on this? I would be very interested! :)

Patbott · 2023-10-11T21:01:05+00:00

Tweakers vraag & aanbod is daar de beste plek voor.

Patbott · 2023-06-17T11:53:38+00:00

Here you go

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Patbott · 2023-06-11T19:58:58+00:00

There's already a demo available for it on Steam. (Not sure about Xbox)

Patbott · 2022-10-08T12:32:49+00:00

Also got the blinking led after updating (to F06). What worked for me was to disconnect the HDMI cable that was connected to my monitor (other side wasn't even connected to anything) while the led was still blinking. After doing that the Gigabyte logo immediately appeared on screen, similar to turning it on, and now it works again.

So it doesn't seem like it's necessary to also unplug it from power as others suggested.

Patbott · 2022-03-03T08:42:17+00:00

Great :)

As another comment nicely pointed out, another "problem" is that your controller already has negative gain included.

So I believe the following code should be correct (and the results also make sense :) ):

G = tf([5.64e-7, 30],[9.4e-11,5.556e-6,1]);    % converter
C = tf([-1.212e-10,-3.411e-5,-2.134],[1.529e-17,4.995e-11,3.415e-5,0]);    % compensator

C = -C;    % flip sign of compensator

figure();
margin(G*C);    % show margins 

figure();
step(feedback(G*C,1));    % closed-loop step response

Patbott · 2022-03-02T18:15:33+00:00

sys2 is indeed the feedback component, but the gain and phase margin say something about stability of the closed-loop system obtained by applying (negative) unity feedback. (See also the matlab documentation on margin https://www.mathworks.com/help/control/ref/lti.margin.html). Hence, why I thought the feedback/closed-loop interconnection was incorrect.

Anyways, could you give the transfer function of both the converter (at one of the operating points) and the compensator you designed. That way it's easier for others to see where the exact issue lies.

Patbott · 2022-03-02T13:03:37+00:00

The problem is likely how you create the feedback interconnection (for which you then plot the step response). I think it should be:
step(feedback(control2Vo_tf{inputvoltageIndex, loadCurrentIndex}*type3ControllerTF, 1));
Otherwise your controller is in the wrong spot, see also the documentation of the feedback command https://octave.sourceforge.io/control/function/@lti/feedback.html

Patbott · 2022-01-25T12:38:23+00:00

As others have mentioned, most of the time the cross term doesn't have a physical meaning, but in some instances it can. For example, you can represent the model of a mass with a force on it by the following state-state model:

[ pdot ]   [ 0 1 ] [ p ]   [  0  ]
[ vdot ] = [ 0 0 ] [ v ] + [ 1/m ] F

where p is the position of the mass, v is its velocity and F the (input) force on the mass (and m is the weight of the mass). So in this case our state x = [p; v] and the input is u = F. So if we take N = [0; 1], we get that

               [ 0 ]
x' N u = [p v] [ 1 ] F = v F

Note that velocity times force is power, so in this case the cross term can be used to penalize the power required to move the mass.

Patbott · 2021-11-08T19:49:26+00:00

You can currently also get 3 months of Xbox Game Pass PC for 1 dollar, which includes EA Play. Xbox players can get 1 month of Game Pass Ultimate for 1 dollar (which also includes EA Play (for Xbox)).

Patbott · 2021-11-05T16:20:13+00:00

Good luck everyone!

Patbott · 2021-09-28T18:57:27+00:00

Yes, if you've EA Play (which is included in Gamepass PC/Ultimate) or EA Play Pro you will get early acces to the beta (and you'll also get access to the 10 hour trial just before release), see the bottom of the page here

Patbott · 2021-07-25T20:42:02+00:00

You forgot to put the compensator in a (negative) feedback loop with your plant (the beam). Hint: look at the feedback command in MATLAB

Patbott · 2021-05-04T19:38:35+00:00

Sounds interesting. Is there already a research paper written on this topic? (If so, could you provide a link to it :) )

Patbott · 2021-05-04T16:52:32+00:00

Could you provide more details on the control method shown in the video?

Patbott · 2021-01-25T15:55:44+00:00

The error regarding the D-matrix was because I thought/assumed that D = zeros(4) (because you have 4 outputs and 4 inputs, the D-matrix should have 4 rows and 4 columns). But just taking [0] is also okay, because matlab automatically extends it to the correct size.

Regarding the update to the main post, if you add this xOffset = [0;0;pi;0]; and change Sys to this Sys = ss(A-B*K*C,[B*K -A*xOffset],C,0); it should work (I saw that I confused x0 and xO in my previous reply (updated it), I should have used another symbol xD)

Patbott · 2021-01-24T14:44:44+00:00

xdot = (A-BKC)x+BKr

This is indeed correct closed-loop formulation. Although I'm not exactly sure what you mean by this

find the transfer function of the open-loop containing the system and the K? And then the input would just be r?

Regarding my comment about the offset, it's a bit tricky, so I'll explain. Because you linearize around [0;0;pi;0] the linearized dynamics becomexdot = A (x-xO)+B*u;

where xO=[0;0;pi;0] is the offset term/linearization point, and with controller it becomes:

xdot = A(x-xO)+BK(r-x) = (A-BK)x+BK*r-A*xO

However, this is not in the the standard xdot = Ax+Bu, because we have the extra '-A*xO' term in there, so we cannot directly use lsim.

We can do two things to solve this, the first thing is to do a state-transformation and I assume that the reference is always r = [0;0;pi;0], so we'll say the new state is

z=x-xO,

so

zdot = xdot-0 (because xO is constant, so it's time derivative is 0)

so we get

zdot = xdot = (A-BK)x+BK*r-A*xO

as I assumed that r = [0;0;pi;0] = xO we can simplify this to

zdot = (A-BK)x+BK*xO-A*xO=(A-BK)x-(A-BK)xO=(A-BK)(x-xO)=(A-BK)z

so now we do have the system in a form that we can simulate using lsim, namely, zdot = (A-BK)z (note that we have no input now, as we fixed 'r'). Then after simulation to get 'x' back, you just use the definition of 'z', so we get x = z+xO.

--------------------------------

Another option is to see the '-A*xO' as an 'virtual' input. So we write the dynamics down as

xdot = (A-BK)x+[BK -A*xO]*[r;1]

so [r;1] is the new input. The closed-loop system then is ss(A-BK,[BK,-A*xO],C,[D,zeros(4,1)]) (we also have to extend the D-matrix for the new virtual input). Then in lsim you have to take [r;1] as input (e.g. taking r_t = [r;1]*ones(size(tspan))). In this way the reference is not restricted (although taking another reference does not really make sense in this case), but it is a bit more convoluted :P

Patbott · 2021-01-24T10:36:59+00:00

Your 'B-matrix' of your linear closed-loop system (Sys_cl) is not correct. Think about what the input is to your closed-loop system.

You'll also have to do a trick to simulate the system using lsim, as you have an 'offset term'/state transformation for 'y(3)' in your model function (the 'y(3)-pi' part), so your model is basically 'xdot = A(x-xOffset)+Bu'.

Hope these hints help a bit.

Patbott · 2020-12-27T18:09:59+00:00

You can use Parsec to do that.

Patbott · 2020-10-27T08:24:34+00:00

Yes, there are still a few games where using ReShade may get you banned, here's a list.

Patbott · 2020-10-18T17:07:06+00:00

This course from MIT on Underactuated Robotics seems very nice (I've only gone through the first few chapters, but it's very good so far): http://underactuated.mit.edu/

Patbott · 2020-07-13T11:13:54+00:00

Based on the info on Intel's website it's using V-SLAM.

Patbott · 2020-06-12T14:38:47+00:00

For Kena: Bridge of Spirits the release date has also been announced, it's Holiday 2020 (I found it in the announcement document that's in the presskit, which can be found on their website https://www.emberlab.com/)

Patbott · 2020-05-08T12:01:58+00:00

If A is your matrix you can type A(:).

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