WOLFRAM SYSTEM MODELER

InvertedPendulumLQGI

A controlled inverted pendulum system.

Diagram

Wolfram Language

In[1]:=
SystemModel["DocumentationExamples.Modeling.InvertedPendulum.InvertedPendulumLQGI"]
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 (5)

K

Value: 31.6228

Type: Real

L

Value: {{101.693, 19.9425, -55.6326, -38.7719, 0.032827}}

Type: Real[:,:]

Aobs

Value: {{-10.1056, 1, -0.416969, 0, 0}, {-14.6044, -0.33108, -2.11041, -9.15381, 20.4548}, {-0.416969, 0, -0.0228173, 1, 0}, {2.93905, -0.045769, -0.0871919, -3.72274, 8.31869}, {3.62464, 0, 0.149582, -4469.12, -2600}}

Type: Real[:,:]

Bobs

Value: {{0, 10.1056, 0.416969}, {0, 51.1481, 2.11041}, {0, 0.416969, 0.0228173}, {0, 2.11281, 0.0871919}, {1000, -3.62464, -0.149582}}

Type: Real[:,:]

Cobs

Value: {{1, 0, 0, 0, 0}, {0, 1, 0, 0, 0}, {0, 0, 1, 0, 0}, {0, 0, 0, 1, 0}, {0, 0, 0, 0, 1}}

Type: Real[:,:]

Components (11)

ref

Type: ReferenceInput

outputFeedback

Type: Feedback

stateFeedback

Type: Feedback

Ki

Type: Gain

kalmanFilter

Type: StateSpace

multiplex3

Type: Multiplex3

integrator

Type: Integrator

LQGain

Type: MatrixGain

gear

Type: GearBox

pendulum

Type: Pendulum

dcMotor

Type: DCMotor