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
>> mgrPend = MECH_STATEVECTORMGR;
>> [A,B,C,D] = linmod('InvertedPendulumModel');
>> open_plant = ss(A,B,C,D);
>> Q = diag([ 0 100 0 100]);
>> K = lqr(A,B,Q,R)
284.3487 -10.0000 126.1560 -23.6582
>> Ac = [(A-B*K)];
>> Bc = [B];
>> Cc = [C];
>> Dc = [D];
My name is Yudha from indonesia, I want make controller with LQR,
my case about nonlinear equation, the example is van der pol eq.
i dont understand about linearized, can u explaint me about it.
if i used the ode45 and the next i used LQR, what i must be do?
i hope u can help me , thank you
Added the SolidWorks files and re-modeled things with the imported plant (Inverted Pendulum) model from SolidWorks
Inspired by: Rotary double inverted pendulum;sim mechanics model
Download apps, toolboxes, and other File Exchange content using Add-On Explorer in MATLAB.