Scribd
Upload
4 views7 pages

Inverted Pendulum Assignment Report

This document presents a detailed study on the modeling and simulation of a DC motor-driven rotary inverted pendulum, a classic control systems problem. It includes the derivation of mathematical models using the Lagrangian method, state space representation, and MATLAB simulation code for both the system and an MPC controller. The assignment aims to demonstrate the application of control theory in stabilizing an inherently unstable system.

Uploaded by

Moumita Paul
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
4 views7 pages

Inverted Pendulum Assignment Report

This document presents a detailed study on the modeling and simulation of a DC motor-driven rotary inverted pendulum, a classic control systems problem. It includes the derivation of mathematical models using the Lagrangian method, state space representation, and MATLAB simulation code for both the system and an MPC controller. The assignment aims to demonstrate the application of control theory in stabilizing an inherently unstable system.

Uploaded by

Moumita Paul
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd

Modeling and Simulation of a DC Motor

Driven Rotary Inverted Pendulum


Course: Control Systems

Student Name: Moumita Paul

Roll Number: 24EC10103


1. Introduction
The inverted pendulum is a classical benchmark problem in control systems. It represents a
nonlinear and unstable electromechanical system that requires feedback control to
maintain stability. In this assignment, we derive the mathematical model of a DC motor
driven rotary inverted pendulum using the Lagrangian method, linearize the system around
the upright equilibrium point, and simulate it using MATLAB.

2. System Description
The system consists of a DC motor that rotates a horizontal arm. A pendulum is attached to
the end of the arm and can swing in a vertical plane. The input to the system is the motor
voltage V(t) and the output is typically the pendulum angle φ(t).

3. Mathematical Modeling
Using the Lagrangian formulation, the equations of motion are derived from L = T − V,
where T is kinetic energy and V is potential energy.

Arm equation:

(Ja + mpLa^2) θ¨ + mpLa lp cosφ φ¨ − mpLa lp sinφ φ̇^2 + Ba θ̇ = τ

Pendulum equation:

(Jp + mplp^2) φ¨ + mpLa lp cosφ θ¨ + Bp φ̇ − mp g lp sinφ = 0

4. State Space Representation


Define state variables: x1 = θ, x2 = θ̇, x3 = φ, x4 = φ̇. The input is motor voltage V. The
system is expressed as ẋ = Ax + Bu.

5. MATLAB Simulation Code


clc
clear
close all

Ja = 0.002;
Jp = 0.001;
mp = 0.2;

La = 0.3;
lp = 0.2;
Ba = 0.01;
Bp = 0.01;

Kt = 0.05;
Ke = 0.05;
R = 2;

g = 9.81;

M11 = Ja + mp*La^2;
M22 = Jp + mp*lp^2;
M12 = mp*La*lp;

Delta = M11*M22 - M12^2;

A = [0 1 0 0;
0 -(M22*(Ba+Kt*Ke/R))/Delta (M12*mp*g*lp)/Delta -(M12*Bp)/Delta;
0 0 0 1;
0 (M12*(Ba+Kt*Ke/R))/Delta -(M11*mp*g*lp)/Delta (M11*Bp)/Delta];

B = [0;
(M22*Kt)/(R*Delta);
0;
-(M12*Kt)/(R*Delta)];

C = [0 0 1 0];
D = 0;

disp('State Space Matrices:')


A
B
C
D
7. MPC controller code
clc;
clear;
close all;
% System parameters
M = 0.5;
m = 0.2;
b = 0.1;
I = 0.006;
g = 9.8;
l = 0.3;

p = I*(M+m) + M*m*l^2;

A = [0 1 0 0;
0 -(I+m*l^2)*b/p (m^2*g*l^2)/p 0;
0 0 0 1;
0 -(m*l*b)/p m*g*l*(M+m)/p 0];

B = [0;
(I+m*l^2)/p;
0;
m*l/p];

C = [1 0 0 0;
0 0 1 0];

D = [0;
0];

sys = ss(A,B,C,D);

% Sampling time
Ts = 0.01;

% Create MPC object


mpcobj = mpc(sys, Ts);

% Prediction and control horizon


[Link] = 20;
[Link] = 5;

% Constraints
[Link] = -10;
[Link] = 10;

% Weights
[Link] = [1 1];
[Link] = 0.1;

% Simulation
Tf = 5;
r = [0 0];
sim(mpcobj,Tf,r)
title('Inverted Pendulum MPC Control')lusion:

You might also like