Inverted Pendulum

Apr 23, 2007 2 Replies
S

I am able to control pendulum angle by using simulink but the main challenge is to bring back the cart to 0 position bec after running my simulation it goes from -1 to 5 according to my intial condition and and angle pi/5 so at position 5 i am getting cart with pendulum at



90deg. How to bring back the cart at 0 with pendulum 90deg
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T

What are you doing now? Are you paying attention to the cart motion at all? It may be instructive to build a transfer function of your system as it stands now from the cart input to the cart position -- that may tell you what you need to do.

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P

See this example.

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can see the cart must move the opposite direction at first so the pendulum will start leaning in the correct direction.

Peter Nachtwey

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