Hi, I am trying to simulate a inverted Pendulum that is linked to a rotating cylindric plate via a revolute joint. The pendulum starts with an angle of 0°(straight downwards) and the target angle(straight upwards) is pi. My input signal is a torque on a wheel. I have created a control system that uses the outputs pendulum-angle and angular velocity to tilt the pendulum up. Once it reaches the target angle it destabalizes though.
I need help creating a stabilizing control loop or improving my currend control system.
I am using Simscape for the Mechanical System definition and Simulink for the control structures.