Experiments
On this page you will find short descriptions of every experiment we offer. You can also download the manuals and necessary files for your homework preparation from here.
Registration: Please register for experiments on the D-ITET online registration website.
2.4 Speed Control - Ziegler-Nichols (PID)
Design and analyze a P-, PI- and PID controller for speed control of a DC motor drive. You will develop a model of the system in Matlab, which you can use afterwards to visualize step responses of the plant. The design of the controller follows the Ziegler-Nichols tuning rules. Validate the model by applying a reference step to both the model and the system. Since the control action is limited (i.e. the current you may feed to the motor), you will observe windup effects in the closed-loop systems. This is a very common situation for real plants.
Prerequisites
- Basics of PID control (RS1 §§ 4.4, 5; week 4).
Homework
Preparation time approx 1.5 hrs, see Manual.
Place
Downloads
2.6 Helicopter II - Lead/Lag
You will control the two coupled axes of a helicopter model. First the model of the plant is calculated and then linearized. Using Matlab and Simulink, you will design a compensation controller (Lead/Lag), which can then be tested on the real system.
Prerequisites
Lead/Lag Compensators (as well as fundamentals of control including linear time-invariant control systems, e.g., "Control Systems I" at ETH Zurich). Please make sure you fulfill the prerequisites and come prepared (i.e., you have done the homework prior to the experiment session), such as to ensure you benefit from conducting the experiment.
Homework
Preparation time approx 2.5 hrs, see Manual.
Place
Downloads
2.7 Air Ball
In this experiment the height of a ball suspended in an air tube will be controlled. A fan at the bottom of the tube causes upward airflow that pushes the ball up to counteract the downward force of gravity. The fan speed can be controlled to change the air stream velocity, causing a change in ball height. A PID controller will be designed to follow reference trajectories of the ball height and reject disturbances. You will learn the basics of PID control and understand the effects of changing the controller gains.
Prerequisites
- none
Homework
Preparation time approx 1 hrs, see Manual.
Place
Downloads
3.4 Quad Tank
The quad-tank system is a relatively simple MIMO (multi-input, multi-output) system. MIMO systems are inherently more difficult to control than systems with only one input / output. In this experiment, you will learn some fundamental techniques to control a MIMO system, like coupled- and decoupled designs or LQR / LQG state-space controllers.
Prerequisites
- Basics in MIMO control (E.g., ensure you are comfortable with the key learning's of a course such as "Control Systems I" at ETH Zurich). Please make sure you fulfill the prerequisites and come prepared (i.e., you have done the homework prior to the experiment session), such as to ensure you benefit from conducting the experiment.
- Minimum/Non-minimum phase plants
- PI control
- LQR control
Homework
Preparation time approx 2.5 hrs, see Manual.