Matlab Projects

This project, developed as part of a semester project for the Master’s program in Mechatronics, focuses on the simulation and control of a Delta robot using MATLAB. The Delta robot is programmed to execute various predefined trajectories, such as vertical lines, circles, cylinders, and trapezoidal velocity trajectories. The graphical interface allows users to visualize the robot's movements in a 3D environment, adjust parameters, and reset the system for repeated tests.

• Trajectory Options: Vertical lines, disks, spheres, and custom velocity trajectories.
• Real-Time Visualization: Interactive 3D representation of the Delta robot's movements.
• Control Algorithms: Implementation of kinematic and dynamic control for precise path-following.

This project demonstrates advanced robotic simulation and control techniques, showcasing the capabilities of Delta robots in applications requiring high-speed and precise motion, such as pick-and-place operations and industrial automation.

This project is a graphical user interface (GUI) application developed in MATLAB using App Designer. It serves as a comprehensive tool for the analysis, command (control design), and simulation of both continuous and discrete linear systems. The application is structured into multiple sections covering fundamental concepts and techniques in automatic control.

• System Definition: Input system models using transfer functions (numerator/denominator polynomials) for continuous and discrete systems, or state-space representation (A, B, C, D matrices) for continuous and discrete systems.
• System Analysis (Continuous & Discrete):
  • Determination of system properties (order, type, stability, BIBO stability).
  • Analysis of poles and zeros (including placement on the complex plane).
  • Temporal responses (impulse and step responses).
  • Frequency and temporal characteristics (rise time, overshoot, settling time, peak time, gain margin, phase margin, gain/phase crossover frequencies).
  • Frequency analysis diagrams (Bode, Nyquist, Nichols plots).
  • Controllability and Observability analysis.
• Control System Design (Continuous & Discrete):
  • State feedback control design (pole placement).
  • State observer design (Luenberger observer).
  • Optimal control design (LQR).
  • Robust control design (H-infinity synthesis).
  • PID control design applied to transfer functions or state-space models.
• Simulation: Visualize and compare system responses under different control strategies.
• Information: Provides a summary of the concepts covered and project details.

This project demonstrates strong proficiency in MATLAB programming, GUI development, and a solid understanding of linear control systems theory (both continuous and discrete domains), including system modeling, analysis techniques, and various advanced control design methods. It represents a practical application of theoretical knowledge to create a useful educational or design tool.