Controller Design for a Two Degrees of Freedom System on a Fixed Platform

Controller design for dynamical systems is mainly based on modeling and simulation of the dynamical system. The model of the system therefore becomes critical for the design problem especially if the dynamical system itself is hard to access for experimental studies. Since the functionality of controllers is important prior to the experimental works, relevant simulation software is used to see the response of controller. In this study, ADAMS model of a physical Two Degrees of Freedom system is formed. Then, the so-called Computed Torque Method with Proportional-Derivative Controller and Proportional-Integral-Derivative Controller are designed to control the system responses, namely angular positions of the system, by using MATLAB/SIMULINK software. Simulation scenario is considered as control of two degrees of freedom system from the zero position to desired angular positions. Simulation results are presented in order to show the effect of controllers. The study combines ADAMS model with MATLAB which enables one to see the system response on the ADAMS simulation model so that further verification could be performed prior to the experimental work.