WOLFRAM SYSTEM MODELER
ReferenceInputController based on LQ (Linear Quadratic) design for e.g. an inverted pendulum. |
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Diagram
Wolfram Language
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SystemModel["DocumentationExamples.Modeling.InvertedPendulum.Components.ReferenceInput"]
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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)
| lPendulum |
Value: 0.61 Type: Length (m) Description: Pendulum length |
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| rPendulum |
Value: 0.005 Type: Radius (m) Description: Pendulum radius |
| 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 |
| 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: Reference.step Type: Reference Description: Type of reference signal: step, pulse, timeTable |
| k1 |
Value: referenceType == Reference.step Type: Boolean Description: Step signal |
| k2 |
Value: referenceType == Reference.pulse Type: Boolean Description: Pulse signal |
| k3 |
Value: referenceType == Reference.timeTable Type: Boolean Description: Time table |
Connectors (1)
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realOutput |
Type: RealOutput Description: Reference signal |
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Components (15)
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world |
Type: World Description: World coordinate system + gravity field + default animation definition |
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step |
Type: Constant Description: Generate constant signal of type Real |
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pulse |
Type: Pulse Description: Generate pulse signal of type Real |
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ConstantQ1 |
Type: BooleanConstant Description: Generate constant signal of type Boolean |
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ConstantQ2 |
Type: BooleanConstant Description: Generate constant signal of type Boolean |
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timeTable |
Type: TimeTable Description: Generate a (possibly discontinuous) signal by linear interpolation in a table |
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switch1 |
Type: Switch Description: Switch between two Real signals |
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switch2 |
Type: Switch Description: Switch between two Real signals |
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position |
Type: Position Description: Forced movement of a flange according to a reference position |
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prismatic |
Type: Prismatic Description: Prismatic joint (1 translational degree-of-freedom, 2 potential states, optional axis flange) |
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ground |
Type: Rectangle Description: Visualizing a planar rectangular surface |
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cart |
Type: BodyBox Description: Rigid body with box shape. Mass and animation properties are computed from box data and density (12 potential states) |
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pendulumCylinder |
Type: BodyCylinder Description: Rigid body with cylinder shape. Mass and animation properties are computed from cylinder data and density (12 potential states) |
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toMidCart |
Type: FixedTranslation Description: Fixed translation of frame_b with respect to frame_a |
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center |
Type: FixedTranslation Description: Fixed translation of frame_b with respect to frame_a |
Used in Examples (1)
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DocumentationExamples.Modeling.InvertedPendulum A controlled inverted pendulum system. |