3 Software Design : Selection of the development platform (Matlab, Matlab+Simulink, etc.). Also considered in the software implementation stage as explained below. There is only one data set used for estimation in this example. Parameter selection (weights, inertia of the pendulum, wheel diameters, etc.) 2 Control System Design : Selection of the control strategy. The measured data in Estimation is shown in the experiment plot. It is also configured with validation data Validation which we will use later, after estimation. For other uses you can import experimental data sets from various sources including MATLAB® variables, MAT files, Excel® files, or comma-separated-value files. This is configured with measured experiment data Estimation. Estimation Dataĭouble-click the orange block in the upper left corner of the inverted pendulum model to launch the Parameter Estimator, pre-loaded with data for this project. This allows us to customize our estimation and can result in a more efficient solution. Personal goal: refresh basic understanding of modelling and control. Model predictive control and a system model of an inverted pendulum are used to plan a trajectory of the cart to maintain balance of the pendulum mass. The outputs of the system are the angles of the arm and the pendulum.įor this example we will run two estimations using different parameter sets for each estimation. Accurately model an inverted pendulum to use for control algorithms development for physical implementation. be controlled so that the inverted pendulums remain vertical on top of the cart. For this example damping is modeled in the revolute joints using gains Kda and Kdp. Trim Using the Controller and Linearize with Simulink linmod Function. The arm of the pendulum has mass Ma, inertia Jb and length r. The motor is modeled as a torque gain Kt. The structure of the controller for this problem is a little different than the standard control problems you may be used to. Im trying to control both the angle and position using H-infinity controller in a multiple feedback loop with angle feedback in the inner loop and position feedback in the outer loop. For the original problem setup and the derivation of the above transfer function, please consult the Inverted Pendulum: System Modeling page. An input voltage is delivered to a DC motor that provides the torque to the rotational arm. Im using an Inverted Pendulum on a Cart model with one input as Force and two outputs as Angle and Position. The bodies are connected by revolute joints that constrain the motion of the bodies relative to each other. The machine consists of one body representing the rotational arm and the other representing the pendulum. There are two bodies modeled in this system. a reaction wheel inverted pendulum system is created by using a 3D CAD platform, exported to Simscape Multibody which is a toolbox of Matlab/Simulink to. The system is modeled using Simscape Multibody.