Inverted Pendulum Optimal Control
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Inverted Pendulum Optimal Control
Design a model predictive controller for an inverted pendulum system with an adjustable cart. Demonstrate that the cart can perform a sequence of moves to maneuver from position y=-1.0 to y=0.0 and verify that the inverted pendulum is stationary before and after the maneuver.
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Study the stability of the inverted pendulum of Example 7.10 an... | Filo
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1.12 The inverted pendulum of Fig. 1.31 is supported by a linear spring of stiffness k,as shown. Denote by θ the angle between the pendulum and the vertical through thehinge O, and:(a) Determine the equilibrium position, as expressed by the angle θ0.(b) Derive the differential equation for small angular motions θ1 about θ0.(c) Calculate the natural frequency of the oscillation θ1.(d) Determine a stability criterion based on the requirement that the motion θ1 beharmonic.FIGURE 1.31
1.12 The inverted pendulum of Fig. 1.31 is supported by a linear spring of stiffness k,as shown. Denote by θ the angle between the pendulum and the vertical through thehinge O, and:(a) Determine the equilibrium position, as expressed by the angle θ0.(b) Derive the differential equation for small angular motions θ1 about θ0.(c) Calculate the natural frequency of the oscillation θ1.(d) Determine a stability criterion based on the requirement that the motion θ1 beharmonic.FIGURE 1.31
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