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    HW 12 Control of An Inverted Pendulum On A Cart

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    Control of mechanical system

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    HW 12 Control of An Inverted Pendulum On A Cart

    Uploaded by

    bntazda
    4 views3 pages
    Control of mechanical system

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    HW 12 Control of an inverted pendulum on a cart

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    Control of mechanical system

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    © All Rights Reserved
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    Download as pdf or txt
    4 views3 pages

    HW 12 Control of An Inverted Pendulum On A Cart

    Uploaded by

    bntazda
    Control of mechanical system

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    © All Rights Reserved
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    HW 12 Control of an inverted pendulum

    on a cart
    Behnam Farzi
    MATRICOLA: 0318595
    2022-2023
    HW 12 Control of an inverted pendulum
    on a cart
    Instructions
    Consider the model of an inverted pendulum on a cart given in Lecture 10 and set M= 5 Kg, m = 1 kg, l =
    1m and assume that the state variables are perfectly measured and that the actuators are ideal.

    1. Design a LQR control on the basis of the linear approximation about the origin with the aim of
    making the origin attractive. Simulate for initial conditions (both for the cart and the pendulum)
    different than zero.
    2. Design a non linear decoupling control to achieve the stabilization of the origin and to force the
    position of the pendulum to track a circle of diameter 0.5 m in 2 seconds starting from zero initial
    tracking errors. Compare with the simulations at point 1 ( same initial conditions ); provide the
    control inputs required to track the circle.

    Set M=5 kg, m=1 kg, l=1 m, an inverted pendulum on a cart, state variables are measured, and actuators
    are ideal.

    1. Create an attractive origin by basing the LQR control on a linear approximation about the origin.
    Simulate the pendulum's and the cart's initial conditions not to be 0.

    2. Create a nonlinear decoupling control that forces the pendulum's position to track a circle with a
    diameter of 0.5 m in 2 seconds starting from zero initial tracking errors. Provide the control inputs
    necessary to track the circle and compare your results to the simulations at point 1 (which had the same
    initial conditions).

    We know that inverted pendulum on card is a generalization of a


    spring- mass system.
    =>mx’’+cx’+kx=Bu with Euler-Lagrange equation we have
    𝑀+𝑚 𝑚 ∗ 𝑙 ∗ 𝑐𝑜𝑠𝜑 𝑥 ′′ −𝑚𝑙𝜑′2 ∗ 𝑠𝑖𝑛𝜑 𝑢
    [ 2 ] *[𝜑 ′′ ]+[ ]=[ ]
    𝑚 ∗ 𝑙 ∗ 𝑐𝑜𝑠𝜑 𝐽 + 𝑚𝑙 −𝑚𝑔𝑙 ∗ 𝑠𝑖𝑛𝜑 0

    𝑥 ′′ ′2
    -1 𝑚𝑙𝜑 ∗ 𝑠𝑖𝑛𝜑 𝑢
    =>[ ′′ ] = * M [ ]+[ ] (1)
    𝜑 𝑚𝑔𝑙 ∗ 𝑠𝑖𝑛𝜑 0

    If 𝑥’=𝑣𝑀, 𝑣𝑀’=(𝑚𝑙𝜔2sin𝜑−𝑚𝑔sin𝜑cos𝜑)+u/(𝑀+𝑚sin2𝜑) (2)


    𝜑’=𝜔, 𝜔’=−𝑚𝑙𝜔2sin𝜑cos𝜑+𝑔sin𝜑(𝑀+𝑚)−ucos𝜑/𝑙(𝑀+𝑚sin2𝜑) (3)
    Because (1),(2),(3) are not linear we have to create a linear equation. So we linearize around the
    equilibrium point xe (φ, x, uΜ, ω)e

    𝑥′ 0 0 1 0 𝜒
    𝜑 ′ 0 0 0 1 𝜑
    =>[ ′ ]=[0 (𝑚 2
    ∗ 𝑙 2
    ∗ 𝑔)/((𝑀 + 𝑚) ∗ (𝐽 + 𝑚𝑙2 ) − 𝑚2 ∗ 𝑙2 )) 0 0]*[𝑣𝑀]+
    𝑣𝑀
    𝜔′ 0 (𝑚 ∗ 𝑙 ∗ 𝑔) ∗ (𝑀 + 𝑚)/((𝑀 + 𝑚)(𝐽 + 𝑚𝑙2 ) − 𝑚2 ∗ 𝑙2 )) 0 0 𝜔
    0
    0
    [(𝐽 + 𝑚𝑙2 )/((𝑀 + 𝑚)(𝐽 + 𝑚𝑙2 ) − 𝑚2 ∗ 𝑙2 ))]*u
    (𝑚𝑙)/((𝑀 + 𝑚)(𝐽 + 𝑚𝑙2 ) − 𝑚2 ∗ 𝑙2 ))
    => if we do the calculations we can see that the system is reachable. So we can move the system
    from the initial point or a final one or to the equilibrium point.
    => we can use the state feedback to stabilize the system.

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