Modeling and Simulation for Orientation Control of an Under-actuated Drill Machine

Modelling for Orientation control of a Drill Machine belonging to a class of under actuated system is presented. The orientation control along x-axis and y-axis of the drill machine is achieved through a single pair of electromagnetic poles. Based on the concept of pulse width modulation a controlling signal for the actuators which caters for all practical limitations of the system is generated. The derived discrete time equivalent model overcomes the practical limitation of control techniques used for such class of systems. It also opens a new dimension especially for under-actuated and non-linear systems which are otherwise difficult rather impossible through orthodox control schemes. A closed form based on discrete time equivalent model supported by simulation results will be helpful in designing overall feedback control for the orientation of the system.