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2015•Unpublished venueRequires access

MODELLING AND SIMULATION OF AN INVERTED PENDULUM SYSTEM: COMPARISON BETWEEN EXPERIMENT AND CAD PHYSICAL MODEL

J. S. Sham, Mahmud Iwan Solihin

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Abstract

SimMechanics can be used for modelling of mechanical systems of any degree of freedom in MATLAB/Simulink environment. Mechanical systems have physical properties that use physical modelling blocks in SimMechanics that relates to geometric and kinematic. By using this toolbox, it saves the time and effort to derive the equations of motion. SimMechanics provides a visualization and animation of mechanical systems with 3D geometry graphical shown. SimMechanics is able to interact with SolidWorks via external features. This paper describes the development of physical modeling of an inverted pendulum (IP) via SimMechanics. The swing up and stabilizing controller for the IP using Linear Quadratic Regulator (LQR) is also discussed.

About this research paper

What this paper is about

SimMechanics can be used for modelling of mechanical systems of any degree of freedom in MATLAB/Simulink environment. Mechanical systems have physical properties that use physical modelling blocks in SimMechanics that relates to geometric and kinematic. By using this toolbox, it saves the time and effort to derive the equations of motion. SimMechanics provides a visualization and animation of mechanical systems with 3D geometry graphical shown. SimMechanics is able to interact with SolidWorks via external features. This paper describes the development of physical modeling of an inverted pendulum (IP) via SimMechanics. The swing up and stabilizing controller for the IP using Linear Quadratic Regulator (LQR) is also discussed.

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Available abstract

SimMechanics can be used for modelling of mechanical systems of any degree of freedom in MATLAB/Simulink environment. Mechanical systems have physical properties that use physical modelling blocks in SimMechanics that relates to geometric and kinematic. By using this toolbox, it saves the time and effort to derive the equations of motion. SimMechanics provides a visualization and animation of mechanical systems with 3D geometry graphical shown. SimMechanics is able to interact with SolidWorks via external features. This paper describes the development of physical modeling of an inverted pendulum (IP) via SimMechanics. The swing up and stabilizing controller for the IP using Linear Quadratic Regulator (LQR) is also discussed.

Key concepts: Inverted pendulum, Kinematics, Computer science, Animation, Toolbox, MATLAB, Mechanical system, Pendulum

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MODELLING AND SIMULATION OF AN INVERTED PENDULUM SYSTEM: COMPARISON BETWEEN EXPERIMENT AND CAD PHYSICAL MODEL — Research Paper | ScholarLens