WOLFRAM SYSTEM MODELER
InvertedPendulumStateFeedbackA controlled inverted pendulum system |
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Diagram
Wolfram Language
In[1]:=
SystemModel["DocumentationExamples.Modeling.InvertedPendulum.InvertedPendulumStateFeedback"]
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 (2)
| KInt |
Value: -674203.9024367221 Type: Real Description: Integrator constant |
|---|---|
| K |
Value: {{(375362267 / 15146902), (94421219165 / 82374), (36920071065 / 161716), ((-13854842761) / 19345), ((-64311737331) / 187034)}} Type: Real[1,5] Description: State feedback matrix |
Connectors (2)
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x |
Type: RealOutput Description: Cart position |
|---|---|---|
|
phi |
Type: RealOutput Description: Pendulum angle |
Components (6)
 |
extendedSystem |
Type: InvertedPendulumExtended Description: An inverted pendulum system |
|---|---|---|
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ref |
Type: ReferenceInput Description: Reference for control design |
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refFeedback |
Type: Feedback Description: Output difference between commanded and feedback input |
|
feedback |
Type: Feedback Description: Output difference between commanded and feedback input |
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integrator |
Type: Integrator Description: Output the integral of the input signal with optional reset |
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stateFeedback |
Type: MatrixGain Description: Output the product of a gain matrix with the input signal vector |