Acta Mechanica Slovaca 2009, 13(3):22-29 | DOI: 10.2478/v10147-010-0043-z
An n-Link Inverted Pendulum Modeling
In this article is the automatized procedure for deriving of n-link inverted pendulum motion equations presented. Example of 2 link inverted pendulum is included. The LQR algorithm using Maple input equations is proposed. Also the comparison between SimMechanics and Simulink is included.
Keywords: pendulum, n-link, Maple, Simulink, chaos, SimMechanics
Published: October 31, 2009 Show citation
References
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Go to original source... - Stimac A.K., Standup and Stabilization of the Inverted Pendulum, MIT, master thesis, 1999.
- Zhong W., Rock H., Energy and Passivity Based Control of the Double Inverted Pendulum on a Cart, Proceedings of the 2001 IEEE International Conference on Control Applications, Mexico City, Mexico, September 5 - 7, 2001.
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