functiondesignInverseDoublePendulumControllerWithObserver
Design pole assignment for an inverse double pedulum
Information
This example demonstrates how to design pole placement controller to balance an inverted double pendulum. For controller design a linearized model of a (simple) physical system model is used. The controller is applied to the physical model in Moldelica_Controller library.
It is also shown how to linearize a modelica model. The linear model is used as a base for control design
Inputs
| Type | Name | Default | Description |
|---|---|---|---|
| String | modelName | "Modelica_LinearSystems2.Controllers.Examples.Components.InverseDoublePendulum" | name of the model to linearize |
| Complex[6] | pa | {Complex(-1, 0), Complex(-1, 0), Complex(-12, -0.2), Complex(-12, 0.2), Complex(-15, -0), Complex(-15, 0)} | assigned poles |
| Complex[6] | pob | cat(1, fill(-15 + 0*j, 4), fill(-20 + 0*j, 2)) | assigned observer poles |
| String | fileName | DataDir + "inverseDoublePendulumControllerO.mat" | file name for results |
| Boolean | makeAnalysis | false |
Outputs
| Type | Name | Default | Description |
|---|---|---|---|
| Real[:,:] | K_pa | feedback matrix pole assignment controller | |
| Real[:,:] | M_pa | pre filter LQ controller | |
| Real[:,:] | K_ob | feedback matrix pole assignment controller |