Project - Position control of mass spring damper system

Basic parameters of the spring mass system

mass, m = 3.6 kg

spring constant, k = 400

damping co-efficient, c = 100 Ns/m

Wn = k/m

Wn / (2*pi) = fn = 1

Underdamped case

zeta = 0.99

poles

p1 = -zeta * Wn + Wn * sqrt(zeta^2-1);

p2 = -zeta * Wn - Wn * sqrt(zeta^2-1);

P = [p1;p2];

A & B matrices

A = [0 1;-k/m c/m];

B = [0;1/m];

Poles placement design

K = place (A,B,P);

K1 = Kp = K(1)

K2 = Kd = K(2)