BallBot

Ballbot robust stability analysis and validation script

Developement report on the link

Contents:

• Nonlinear model synthesis with distrubances
• Parametric linearisation
• Parametric uncertainty introduction optimisation based worst case search
• Disturbance rejection and noise attenutation
• H-infinity controller synthesis based on linear systems based on worst case system
• Comparison of behavior with nonlinear model Created January 2020 by Antun Skuric

Running

• Download the directory to your pc and open matlab in the same directory.

git clone https://github.com/askuric/BallBot.git

• To run just open in matlab window the live script ballbot_analysis_live.mdx and follow the execution. Be aware that it may take some time to execute completely. 10-20 minutes

ballbot_analysis_live.mdx

• If you want to run analysis of already optimised and calculated values of controllers the live script ballbot_analysis_example_live.mdx and follow the execution. 4 In order to run this script you need to have example_worspace.mat file with corresponding example_generated forlder. Be aware that it may take some time to execute completely. 10-20 minutes

ballbot_analysis_example_live.mdx

Folder structure

BallBot
│   README.md  
|   ballbot_analyisis_live.mdx  	                               # Matlab script running the analysis
|   ballbot_analyisis_example_live.mdx  	                       # Matlab script running the precalculated analysis
|   example_worspace.mat                                         # Mat file containing one precalcualted workspace
|   Ballbot robust analysis report.pdf	                         # Project report
|   H-ininfity equations and system descriptionexplanation.pdf	 # H-infinity system representation expalnation
└─── visualtisation 			# Helping functions for visualisation
└─── optimisation   			# Helping functions for optimisation
└─── figures        			# Figures used in the report "Ballbot robust analysis report.pdf"
└─── documentation  			# Papers, scripts and documents used for analysis
└─── example_genearted    # Folder containing the example generated functions and system model equations