WOLFRAM SYSTEM MODELER
InvertedPendulumLQGIA controlled inverted pendulum system. |
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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 |
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Ki |
Type: Gain |
 |
kalmanFilter |
Type: StateSpace |
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multiplex31 |
Type: Multiplex3 |
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integrator |
Type: Integrator |
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LQGain |
Type: MatrixGain |
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gear |
Type: GearBox |
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pendulum |
Type: Pendulum |
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dcMotor |
Type: DCMotor |