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Rotary double inverted pendulum;sim mechanics model

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4.4 | 9 ratings Rate this file 6 Downloads (last 30 days) File Size: 43.8 KB File ID: #14533 Version: 1.0

Rotary double inverted pendulum;sim mechanics model


Gaurav Nair (view profile)


06 Apr 2007 (Updated )

Stabilising a double inverted pendulum about its unstable equilibrium position

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A double inverted pendulum is a non linear control complexity. The aim of the system is to balance a pendulum hinged to another pendulum, which in turn is attached to an arm which is driven by a motor. Here I have made use of an LQR, full state feedback to stabilize the system. The animation of the system is also displayed. Using this approach even triple and higher stages of inverted pendulums can be developed. The system is animated also.


This file inspired Simple Inverted Pendulum With Lqr,Pid Sim Mechanics.

Required Products Simscape Multibody
MATLAB release MATLAB 7 (R14)
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Comments and Ratings (11)
19 Jul 2013 mm

mm (view profile)

24 Aug 2009 Leonardo Araujo

Hi man just one question... After you linearize your model with linmod and use lqr to discover the K matrix how you include it in simulink? I mean you will actually get from LQR the full matrix K and you just can't copy and past it over simulink lqr block

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24 Aug 2009 Leonardo Araujo  
24 Aug 2009 Leonardo Araujo  
24 Apr 2009 DING DONG  
13 Dec 2008 Thomas Whitney

I cannot download this file. Can somebody please help.

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22 Apr 2008 muhammad tufail


29 Oct 2007 Nguyen Thanh Phuc  
29 Oct 2007 Nguyen Thanh Phuc  
10 Sep 2007 Sreenath AM

its really great..

19 Aug 2007 Adarsh VK

Just wanted be the first to rate this file !!!

Please do carry ur reserch...!!!
best of luck..!!!

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