501
edits
Control package: Difference between revisions
Jump to navigation
Jump to search
→Inverted Pendulum
| Line 473: | Line 473: | ||
=== Inverted Pendulum === | === Inverted Pendulum === | ||
A nonlinear model of the inverted pendulum | A nonlinear model of the inverted pendulum can be defined as | ||
<math> | <math> | ||
| Line 480: | Line 480: | ||
-ml\ddot{x}\cos{\theta}+(ml^2+I)\ddot{\theta}+b\dot{\theta}+mgl\sin{\theta}=0 | -ml\ddot{x}\cos{\theta}+(ml^2+I)\ddot{\theta}+b\dot{\theta}+mgl\sin{\theta}=0 | ||
\end{cases} | \end{cases} | ||
</math> | </math>, | ||
where the variables are defined as | |||
{| | |||
! Name | |||
! Definition | |||
|- | |||
|M | |||
|Mass of the cart | |||
|- | |||
|m | |||
|Mass of the pendulum | |||
|- | |||
|c | |||
|Translational damping coefficient | |||
|- | |||
|l | |||
|Length of the pendulum | |||
|- | |||
|I | |||
|Inertia of the pendulum | |||
|- | |||
|b | |||
|Rotational damping coefficient | |||
|} | |||
==References== | ==References== | ||