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## Simple Inverted Pendulum with LQR,PID SimMechanics

version 1.2 (320 KB) by

This sample this sample show the simple Inverted Pendulum control with lqr

Updated

Hi guys this is my Simple Pendulum model and control using SimMechanics and Control toolbox, later I will include also the SolidWorks files to show how to use SolidWorks link.

Anyone who finds that I should do things in another way please fell free to post any comment and help me :)

This sample was modelled with SimMechanics and control was made with lqr command.

First I've imported the pendulum from solidworks with
mech_import;

>> mgrPend = MECH_STATEVECTORMGR;
>> mgrPend.StateNames

ans =

'InvertedPendulumModel/Pendulo_Invertido/Revolute:R1:Position'
'InvertedPendulumModel/Pendulo_Invertido/Prismatic:P1:Position'
'InvertedPendulumModel/Pendulo_Invertido/Revolute:R1:Velocity'
'InvertedPendulumModel/Pendulo_Invertido/Prismatic:P1:Velocity'

>> [A,B,C,D] = linmod('InvertedPendulumModel');

>> eig(A)

ans =

0
0
2.3132
-2.3132

>> open_plant = ss(A,B,C,D);
>> impulse(open_plant);

>> Q = diag([ 0 100 0 100]);
>> K = lqr(A,B,Q,R)

K =

284.3487 -10.0000 126.1560 -23.6582

>> Ac = [(A-B*K)];
>> Bc = [B];
>> Cc = [C];
>> Dc = [D];
>> sys_cl=ss(Ac,Bc,Cc,Dc);
>> T=0:0.01:50;
>> U=0.2*ones(size(T));
>> [Y,T,X]=lsim(sys_cl,U,T);
>> plot(T,Y)

Phodal

Yi seong woo

### Yi seong woo (view profile)

so good!!

My name is Yudha from indonesia, I want make controller with LQR,

my case about nonlinear equation, the example is van der pol eq.

if i used the ode45 and the next i used LQR, what i must be do?

i hope u can help me , thank you

best regards

yudha