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SimMechanics pendulum used for control optimization

version 1.1 (2.2 MB) by

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

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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.

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1.1

Added published code.

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