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PI-controller for inverted pendulum 1.0

  Date Added: April 29, 2013  |  Visits: 180

PI-controller for inverted pendulum

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http://simulations.narod.ru/It is inverted pendulum. Down point is base can be controlled. It can be moved horizontally only. PI (not PID) controller used to set the pendulum in up direction. There are friction in base and frictiopn from air simulated. Random kick is applied periodically. The PI-controller for base velocityt isdx/dt=p*phi+(q-g)*integral(phi*dt)where phi is angle counted from vertical position. There was found theoretically that optimal p and q is defined by equation: p^2/R=-q, p

Requirements: No special requirements
Platforms: Matlab
Keyword: Defined Equation Formulajpg Found Length Optimal P2r3dq Plt Qlt Position Theoretically
Users rating: 0/10

License: Shareware Size: 522.24 KB
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