WOLFRAM SYSTEM MODELER

ControlledMotorGearPendulum

A controlled inverted pendulum system

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)

V

Type: RealInput

Description: Disturbance voltage
phi

Type: RealOutput

Description: Angle of the pendulum with respect to the vertical
x

Type: RealOutput

Description: Horizontal position of the cart

Components (5)

globalSeed

Type: GlobalSeed

Description: Defines global settings for the blocks of sublibrary Noise, especially a global seed value is defined
normalNoise

Type: NormalNoise

Description: Noise generator with normal distribution
syse

Type: MotorGearPendulum_extended

Description: A model that encloses a plant and passes its states as outputs
state_fb

Type: state_feedback

Description: Feedback gain component
comp

Type: comparator

Description: Comparator model