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The Astronomical Observatory of the Sergio Ar-boleda University (Bogota, Colombia) has as main instrument a Torus Classic Cassegrain telescope. In order to improve its precision and accuracy in the tracking of celestial objects, the Torus telescope requires to be properly automated. The motors, drivers and sensors of the telescope are modeled as a black-box system and experimentally identified. Using the identified model several control laws are developed such as Proportional, integral and derivative (PID) control and state-feedback control for the velocity and position tracking and disturbance-rejection tasks.

Experimental Black-box System identification and control of a Torus Cassegrain Telescope