WOLFRAM SYSTEM MODELER
ControlledMotorGearPendulumA controlled inverted pendulum system |
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Diagram
Wolfram Language
In[1]:=
SystemModel["DocumentationExamples.Modeling.ControlledMotorGearPendulum"]
Out[1]:=
Information
This system consists of an electrical motor, a gear, and a pendulum connected to a cart. The position of the cart is controlled using state feedback. The first priority of the controller is to make sure that the pendulum stays in an upright position.
Connectors (3)
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V |
Type: RealInput Description: Disturbance voltage |
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phi |
Type: RealOutput Description: Angle of the pendulum with respect to the vertical |
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x |
Type: RealOutput Description: Horizontal position of the cart |
Components (5)
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globalSeed |
Type: GlobalSeed Description: Defines global settings for the blocks of sublibrary Noise, especially a global seed value is defined |
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normalNoise |
Type: NormalNoise Description: Noise generator with normal distribution |
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syse |
Type: MotorGearPendulum_extended Description: A model that encloses a plant and passes its states as outputs |
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state_fb |
Type: state_feedback Description: Feedback gain component |
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comp |
Type: comparator Description: Comparator model |