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undergraduate thesis
Optimalno upravljanje skupom povezanih inverznih njihala
2018. urn:nbn:hr:235:205642
Paradžik, Ivan
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

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Paradžik, I. (2018). Optimalno upravljanje skupom povezanih inverznih njihala (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:205642

Paradžik, Ivan. "Optimalno upravljanje skupom povezanih inverznih njihala." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2018. https://urn.nsk.hr/urn:nbn:hr:235:205642

Paradžik, Ivan. "Optimalno upravljanje skupom povezanih inverznih njihala." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2018. https://urn.nsk.hr/urn:nbn:hr:235:205642

Paradžik, I. (2018). 'Optimalno upravljanje skupom povezanih inverznih njihala', Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 23 February 2025, https://urn.nsk.hr/urn:nbn:hr:235:205642

Paradžik I. Optimalno upravljanje skupom povezanih inverznih njihala [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2018 [cited 2025 February 23] Available at: https://urn.nsk.hr/urn:nbn:hr:235:205642

I. Paradžik, "Optimalno upravljanje skupom povezanih inverznih njihala", Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2018. Available at: https://urn.nsk.hr/urn:nbn:hr:235:205642

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Metadata
TitleOptimalno upravljanje skupom povezanih inverznih njihala
Title (english)Optimal control of a set of interconnected inverted pendulums
AuthorIvan Paradžik
MentorAndrej Jokić (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2018-09-27, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
U ovom radu promatran je nelinearni dinamički sustav koji se sastoji od dva njihala povezanih sa sustavom opruga, užeta i kolotura. Izveden je detaljan model dinamike sustava koristeći Euler-Lagrangeov pristup. U svrhu sinteze regulatora, a zbog kompleksnosti nelinearnog modela provedena je linearizacija modela. Koristeći moderne alate za H∞ sintezu, provedena je sinteza optimalnog linearnog regulatora koji stabilizira promatrani linearna i nelinearan model, te ostvaruje optimalno smanjenje utjecaja poremećajnih momenata na pomake njihala. Na kraju su prikazani rezultati prikladno osmišljenih simulacija zatvorenog upravljačkog kruga s nelinearnim i linearnim modelom kako bi se dobio dojam učinkovitosti regulatora.
Keywords
Languagecroatian
URN:NBNurn:nbn:hr:235:205642
Study programmeTitle: Mechanical Engineering
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2019-05-22 23:12:45