functiondesignInversePendulumController
Design pole assignment for an inverse pedulum
Information
This example demonstrates how to design pole placement controller to balance an inverted pendulum. For controller design a linearized model of a (simple) physical system model is used. The controller is applied to the physical model in Moldelica_Controller library.
It is also shown how to linearize a modelica model. The linear model is used as a base for control design
Inputs
| Type | Name | Default | Description |
|---|---|---|---|
| String | modelName | "Modelica_Controller.Examples.Components.InversePendulum_small" | Name of the model to linearize |
| Complex[4] | pa | {-5 + 0*j, -5 + 0*j, -5.0 - 0.25*j, -5.0 + 0.25*j} | Assigned poles |
| String | fileName | DataDir + "inversePendulumController_small.mat" | File name for results |
Outputs
| Type | Name | Default | Description |
|---|---|---|---|
| Real[:,:] | K_pa | feedback matrix pole assignment controller | |
| Real[:,:] | M_pa | pre filter LQ controller |