a mechatronic linear servo system. The

system will comprise a DC motor, a cart on a linear guide rail, and a cascade servo motion controller for regulating

position and speed.

Objectives:

$1-$ Develop a functional physical model of the closed$-$loop mechatronic system.

$2-$ Implement a cascade controller for precise position and speed control.

$3-$ Design and simulate the system using MATLAB$/$Simulink$.$

$4-$ Analyse and assess the system's performance under various conditions.

Technical Specifications:

a$)$ Physical Model:

$1-$ Minimum cart speed: $0\mathrm{.}5$ m$/$s

$2-$ Payload: $3$ kg

b$)$ Software Model:

$1-$ Developed in MATLAB$/$Simulink

$2-$ Includes models for mechanics, control system, and sensors

c$)$ Control System:

$1-$ Cascade controller design following standard control procedures

$2-$ Interfaces for input signal and response measurement

$3-$ Performance evaluation based on response time, steady$-$state error, and stability

Deliverables

Each group is required to deliver:

$1.$ A physical model along with a functional control system using cascade controller

$2.$ Interfaces for applying input signal and measurement of the system$$s response

$3.$ Source code files $($Matlab$/$Simulink model, microcontroller cod, etc.$)$

$4.$ Project technical report containing the following:

a$.$ The contribution of each member of the group in the performed task and in writing the final report

presented in a tabular form.

b$.$ Detailed description of the workflow and used methodologies including:

i$.$ Mechanical design

ii$.$ Flow charts of the main flow of the program

iii. Circuits Wiring

iv$.$ Cascade controller design techniques and illustration of the applied control theory indicating

methodologies adopted for achieving the desirable control system performance.

c$.$ Results of each step of the performed control task

d$.$ Results Analysis of the different steps of the control task including detailed assessment of the

control system performance

e$.$ Study on the effect of the disturbances and temporal parameters on the system performance

f$.$ Complete relevant set of conclusions highlighting different problems that faced and how you

managed to solve it