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This GitHub project focuses on the analysis and control of a three-degree-of-freedom Quanser helicopter. The project involves several key steps:
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Equation of Motion: Deriving the system's equations of motion using the Euler-Lagrange method.
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Simulation: Simulating the open-loop nonlinear system using Msc Adams and Matlab Simulink.
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State Formulation: Defining the equations in state-space form.
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Stability Analysis: Investigating Bounded Input Bounded Output (BIBO) stability using Lyapunov and marginal methods.
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Controllability and Observability: Assessing system controllability and observability.
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Controller Design: Designing a state feedback controller.
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Robustness Analysis: Evaluating controller robustness against input and model parameter variations.
This repository aims to provide a comprehensive overview of the process, from system modeling to controller design, in a step-by-step manner.
Each step of the process is documented in detail within the repository. You can navigate through the folders to find code, simulations, and explanations for each stage.
Contributions and suggestions are welcome. If you find any issues or have ideas for improvements, feel free to open an issue or pull request.
This project is licensed under the MIT License.