![]() ![]() ![]() For this system, the control input is the force that moves the cart horizontally and the outputs are the angular position of the pendulum and the horizontal position of the cart. In this example we will consider a two-dimensional version of the inverted pendulum system with cart where the pendulum isĬonstrained to move in the vertical plane shown in the figure below. Performance of the control scheme designed based on the linearized model. The simulation model can also be used to evaluate the The nonlinear simulation can then beĮmployed to test the validity of a linearized version of the model. Solutions to nonlinear equations for which closed-form solutions cannot be generated. A great advantage of simulation, as will be demonstrated in this example, is that it can generate numerical In this page we outline how to build a model of our inverted pendulum system for the purposes of simulation using SimulinkĪnd its add-ons. Extracting a linear model from the simulation.Building the nonlinear model with Simscape.Building the nonlinear model with Simulink. ![]()
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