Versatile hardware to Analyze the Performance of a Nonlinear Controller

A sequential Lyapunov technique was developed to ensure the asymptotic stability of various mechanical systems. First, an Inverted Pendulum Cart, then a Hovercraft, and later a Quadrotor Subjected to a Variable Load. This study proposes a controller to be tested in a thermal system. While there is a growing trend towards developing low-cost control implementation equipment, successful performance offers many benefits, including easier adaptation and maintenance. To validate the designed controller, the hardware should accurately reflect the relationship between theory and what is expected in the real world. The designed experiments will allow the hardware to obtain experimental data that can correlate with models generated by the Temperature Lab. The control laboratory hardware is highly beneficial as it allows for modifying and improving experimental designs through the Temperature Lab, enabling analysis before incurring high costs. The experiments showed consistent performance considering the Extended Kalman Filter and Unscented Kalman Filter, leading to accurate results studied through numerical examples.