Simulink Control Design™ - MathWorks

Figure 2: Simscape Multibody model

This system is controlled by exerting a variable force on the cart. We need to keep the

pendulum upright while moving the cart to a new position or when the pendulum is

nudged forward (impulse disturbance ).

Control Structure

The upright position is an unstable equilibrium for the inverted pendulum. The unstable

nature of the plant makes the control task more challenging. For this example, we use the

following two-loop control structure:

open_system(fullfile(matlabroot,'examples','control','rct_pendulum.slx'))

set_param('rct_pendulum','SimMechanicsOpenEditorOnUpdate','off');

13 Control System Tuning Examples