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# Simple Inverted Pendulum with LQR,PID SimMechanics 1.0

Date Added: May 31, 2013  |  Visits: 255
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Hi guys this is my Simple Pendulum model and control using SimMechanics and Control toolbox, later I will include also the SolidWorks files to show how to use SolidWorks link.Anyone who finds that I should do things in another way please fell free to post any comment and help me :)This sample was modelled with SimMechanics and control was made with lqr command.First I've imported the pendulum from solidworks withmech_import;>> mgrPend = MECH_STATEVECTORMGR;>> mgrPend.StateNamesans = 'InvertedPendulumModel/Pendulo_Invertido/Revolute:R1:Position' 'InvertedPendulumModel/Pendulo_Invertido/Prismatic:P1:Position' 'InvertedPendulumModel/Pendulo_Invertido/Revolute:R1:Velocity' 'InvertedPendulumModel/Pendulo_Invertido/Prismatic:P1:Velocity'>> [A,B,C,D] = linmod('InvertedPendulumModel');>> eig(A)ans = 0 0 2.3132 -2.3132>> open_plant = ss(A,B,C,D);>> impulse(open_plant);>> Q = diag([ 0 100 0 100]);>> K = lqr(A,B,Q,R)K = 284.3487 -10.0000 126.1560 -23.6582>> Ac = [(A-B*K)];>> Bc = [B];>> Cc = [C];>> Dc = [D];>> sys_cl=ss(Ac,Bc,Cc,Dc);>> T=0:0.01:50;>> U=0.2*ones(size(T));>> [Y,T,X]=lsim(sys_cl,U,T);>> plot(T,Y)

 Requirements: No special requirements Platforms: Matlab Keyword: Eigaans,  Gtgt,  Impulseopen Plantgtgt,  Invertedpendulummodelpendulo Invertidoprisma,  Linmod Invertedpendulummodel Gtgt,  Mgrpendstatenamesans,  Open Plant,  Ssabcdgtgt Users rating: 0/10

 License: Freeware Size: 327.68 KB
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