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Their step responses using various feedback gains of the state variables are analysed and compared to a linear model created in MATLAB.
It was found that the system poles were very sensitive to the feedback gain values. The linear models devised gave good approximations to stable crane systems but could not be used to model systems on the brink of becoming unstable or when large displacements were involved. The non-linear friction acting on the inverted pendulum caused limit cycling.
Table of Contents
Table of Contents 3
1. Introduction 4
2. Apparatus and Method 4
3. Theory 4
From Appendix I: section A...
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