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Simple Inverted Pendulum with LQR,PID SimMechanics

version 1.2.0.0 (320 KB) by Leonardo Araujo
This sample this sample show the simple Inverted Pendulum control with lqr

16 Downloads

Updated 26 Aug 2009

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Hi guys this is my Simple Pendulum model and control using SimMechanics and Control toolbox, later I will include also the SolidWorks files to show how to use SolidWorks link.

Anyone who finds that I should do things in another way please fell free to post any comment and help me :)

This sample was modelled with SimMechanics and control was made with lqr command.

First I've imported the pendulum from solidworks with
mech_import;

>> mgrPend = MECH_STATEVECTORMGR;
>> mgrPend.StateNames

ans =

'InvertedPendulumModel/Pendulo_Invertido/Revolute:R1:Position'
'InvertedPendulumModel/Pendulo_Invertido/Prismatic:P1:Position'
'InvertedPendulumModel/Pendulo_Invertido/Revolute:R1:Velocity'
'InvertedPendulumModel/Pendulo_Invertido/Prismatic:P1:Velocity'

>> [A,B,C,D] = linmod('InvertedPendulumModel');

>> eig(A)

ans =

0
0
2.3132
-2.3132

>> open_plant = ss(A,B,C,D);
>> impulse(open_plant);

>> Q = diag([ 0 100 0 100]);
>> K = lqr(A,B,Q,R)

K =

284.3487 -10.0000 126.1560 -23.6582

>> Ac = [(A-B*K)];
>> Bc = [B];
>> Cc = [C];
>> Dc = [D];
>> sys_cl=ss(Ac,Bc,Cc,Dc);
>> T=0:0.01:50;
>> U=0.2*ones(size(T));
>> [Y,T,X]=lsim(sys_cl,U,T);
>> plot(T,Y)

Cite As

Leonardo Araujo (2020). Simple Inverted Pendulum with LQR,PID SimMechanics (https://www.mathworks.com/matlabcentral/fileexchange/25139-simple-inverted-pendulum-with-lqr-pid-simmechanics), MATLAB Central File Exchange. Retrieved .

Comments and Ratings (6)

Sir I am G Sathwika Stella can I have documentation or report for simulation models

Phodal

so good!!

My name is Yudha from indonesia, I want make controller with LQR,

my case about nonlinear equation, the example is van der pol eq.

i dont understand about linearized, can u explaint me about it.

if i used the ode45 and the next i used LQR, what i must be do?

i hope u can help me , thank you

best regards

yudha

Updates

1.2.0.0

Added the SolidWorks files and re-modeled things with the imported plant (Inverted Pendulum) model from SolidWorks

MATLAB Release Compatibility
Created with R2008b
Compatible with any release
Platform Compatibility
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