WOLFRAM SYSTEM MODELER
ReferenceInputController based on LQ (Linear Quadratic) design for e.g. an inverted pendulum. |
 |
Diagram
Wolfram Language
In[1]:=
SystemModel["DocumentationExamples.Modeling.InvertedPendulum.Components.ReferenceInput"]
Out[1]:=
Information
Wolfram Language Documentation Examples
This library contains models used in the documentation of system modeling functionality in Wolfram Language. These examples and this library can be explored in the Wolfram Language documentation.
Parameters (10)
| table |
Value: [0, 0; 0.5, 1; 2, 1; 2.5, -0.75; 3, -1; 3.5, 0.5; 4, 1; 4.5, 1] Type: Real[:,2] Description: Table matrix (time = first column). Only if inputType=3 |
|---|---|
| referenceType |
Value: DocumentationExamples.Modeling.InvertedPendulum.Components.ReferenceInput.Reference.step Type: Reference Description: Type of reference signal: step, pulse, timeTable |
| lCart |
Value: 0.1 Type: Length (m) Description: Cart length |
| hCart |
Value: 0.1 Type: Height (m) Description: Cart height |
| wCart |
Value: 0.1 Type: Length (m) Description: Cart width |
| lPendulum |
Value: 0.61 Type: Length (m) Description: Pendulum length |
| rPendulum |
Value: 0.005 Type: Radius (m) Description: Pendulum radius |
| k1 |
Value: referenceType == DocumentationExamples.Modeling.InvertedPendulum.Components.ReferenceInput.Reference.step Type: Boolean Description: Step signal |
| k2 |
Value: referenceType == DocumentationExamples.Modeling.InvertedPendulum.Components.ReferenceInput.Reference.pulse Type: Boolean Description: Pulse signal |
| k3 |
Value: referenceType == DocumentationExamples.Modeling.InvertedPendulum.Components.ReferenceInput.Reference.timeTable Type: Boolean Description: Time table |
Connectors (1)
 |
realOutput1 |
Type: RealOutput |
|---|
Components (14)
 |
pulse |
Type: Pulse |
|---|---|---|
 |
switch1 |
Type: Switch |
 |
ConstantQ |
Type: BooleanConstant |
|
switch2 |
Type: Switch |
|
ConstantQ1 |
Type: BooleanConstant |
 |
timeTable1 |
Type: TimeTable |
 |
world |
Type: World |
 |
prismatic1 |
Type: Prismatic |
 |
fixedShape1 |
Type: FixedShape |
 |
position1 |
Type: Position |
|
fixedShape2 |
Type: FixedShape |
 |
fixedTranslation1 |
Type: FixedTranslation |
|
ground |
Type: FixedShape |
 |
step |
Type: Step |
Used in Examples (1)
 |
DocumentationExamples.Modeling.InvertedPendulum A controlled inverted pendulum system. |