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Rotary double inverted pendulum;sim mechanics model

06 Apr 2007 (Updated 11 Apr 2007)

Stabilising a double inverted pendulum about its unstable equilibrium position

File Information
Description	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.
Acknowledgements	This submission has inspired the following: Simple Inverted Pendulum with LQR,PID SimMechanics
Required Products	SimMechanics
MATLAB release	MATLAB 7 (R14)

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Everyone's Tags	double inverted pendulum(5), lqr(2), mechanical modeling(2), non linear, stabilising, stabilizing
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Comments and Ratings (10)
19 Aug 2007	Adarsh VK	Just wanted be the first to rate this file !!! Please do carry ur reserch...!!! best of luck..!!!
10 Sep 2007	Sreenath AM	great... its really great..
29 Oct 2007	Nguyen Thanh Phuc
29 Oct 2007	Nguyen Thanh Phuc
22 Apr 2008	muhammad tufail	good
13 Dec 2008	Thomas Whitney	I cannot download this file. Can somebody please help.
24 Apr 2009	DING DONG
24 Aug 2009	Leonardo Araujo
24 Aug 2009	Leonardo Araujo
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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