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SimMechanics pendulum used for control optimization

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31 Aug 2010 (Updated )

Pendulum imported via SimMechanics generates dynamics for optimal dampening solved by DIDO.

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Description

Suspended and inverted pendulums were built in AutoDesk Inventor. SimMechanics is used to generate a Simulink model. This model generates the dynamics implicitly, so there is no need to solve the equations of motion by hand. The dynamics are used by control optimization software: DIDO, available commercially. Sample results are included along with analysis which compares it against a linearly-optimal state transformation and the linear-quadratic-regulator. In addition, optimality conditions are verified based on the explicit equations of motion.

Required Products SimMechanics
Simulink
MATLAB release MATLAB 7.8 (R2009a)
Other requirements DIDO
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Updates
22 Sep 2010

Added published code.

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