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How do I stabilize an inverted Pendulum linked to a wheel in Simscape and Simulink?

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Erik Prade
Erik Prade on 25 Mar 2018
Answered: Nicolas Schmit on 27 Mar 2018
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.

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Answers (1)

Nicolas Schmit
Nicolas Schmit on 27 Mar 2018
  1. Configure the cylindrical and revolute joints so that the system starts in an equilibrium position, with the pendulum upward.
  2. Give a small initial angle (a few degrees) to the pendulum, and see if your controller reacts as expected.
  3. Set the proportional feedback gain so that the controller creates a torque that counteracts the displacement from the equilibrium position.
  4. Set the derivative gain so that the controller damps the oscillations.

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