WOLFRAM SYSTEM MODELER

# InvertedPendulumLQGI

A controlled inverted pendulum system.

# Wolfram Language

In[1]:=
`SystemModel["DocumentationExamples.Modeling.InvertedPendulum.InvertedPendulumLQGI"]`
Out[1]:=

# 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 Value: {{101.693, 19.9425, -55.6326, -38.7719, 0.032827}} Type: Real[:,:] 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[:,:] 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[:,:] 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 Description: Controller based on LQ (Linear Quadratic) design for e.g. an inverted pendulum. Type: Feedback Description: Output difference between commanded and feedback input Type: Feedback Description: Output difference between commanded and feedback input Type: Gain Description: Output the product of a gain value with the input signal Type: StateSpace Description: Linear state space system Type: Multiplex3 Description: Multiplexer block for three input connectors Type: Integrator Description: Output the integral of the input signal with optional reset Type: MatrixGain Description: Output the product of a gain matrix with the input signal vector Type: GearBox Description: A gear system with a rotational gear coupled to a pinion and a rack. Type: Pendulum Description: An inverted pendulum connected to a cart. Type: DCMotor Description: A model of a DC motor