Active Anti-Vibration Platform for an Ultrasonic Sensor

This page documents the selected Activity 2 project from the Universidad de los Andes Control course. The public repository intentionally preserves only the final report and the editable Simulink model supplied for this activity.

Application

The platform is intended to reduce ultrasonic-sensor motion caused by table or base vibrations during laboratory tests related to potato pest detection. The primary control objective is disturbance rejection around a fixed equilibrium, not trajectory tracking.

Canonical Artifacts

• Final Activity 2 report
• Editable Simulink and Simscape model

Technical Summary

• Third-order electromechanical nominal model
• State-space formulation
• Routh-Hurwitz stability condition
• Reduced second-order model for IMC-based PID tuning
• Filtered PID implementation in Simulink
• Regulation and step-reference evaluation scenarios

Documentation

• Mathematical formulation
• Artifact scope