PSD Based Levitation Control of Copter Motor Arm

Abstract

This work presents a sequential and
systematic approach to modeling, designing, and
implementing a proportional-sum-delta (PSD) controller.
The modeling of the PSD controller is done using linear
difference equations. The implementation of the PSDController
is done on an arm whose angle/position is
determined by the copter motor attached to its end. The
physical system mentioned is controlled and analyzed via a
browser-based Graphical User Interface. The modeling,
design, and implementation of the controller are done stepby-
step; first the P-Controller, then the PD-Controller, and
finally the PSD-Controller is constructed and applied to the
physical system. The experimental performance analysis is
also performed for each part. The performance is judged
based on the very basic characteristics of a feedback control
system such as steady-state error, stability, overshoot and
response speed. In the end, a mention is also made of
possible future advancements in the overall system.