An interactive flexible inverted pendulum modeling, simulation, animation, and real-time (MoSART) control environment for enhancing control design

Abstract

environments which revolutionize systems and controls analysis, design, research, and education. The This paper describes the application of the Model- authors have exploited these technologies to develop ing, Simulation, Animation, and Real-Time Control several system-specific environments for a variety of (MoSART) Flezible Inverted Pendulum Environment systems [l], (31, [4], [5], [61. to the study of rigid link approximations to the flexible invcrted pendulum. The MoSART environment ,-.ontributions of work, ~h~~ paper denionstrates is used to visualize the system dynamics of different how inexpensive state-of-the-art pc may rigid link models and to evaluate the performance of be combined to develop high quality M~SA~T control systems. Controller designs for simpler rigid vironnlents which are useful for enhancing the rependulums o' fewer Hexible modes be applied t' search and education process. Specifically, this paper pendulum models including additional Heaible modes describes a pc/windows 95/98/~~/2000/~~ / viin order to investigate the limitation of controller sual C++/MATLAB, Simulink.based M~SART plezdesign. Additionally, these rigid link models allow ibk Inverted Pendulum E~~~~~~~~~~ comparison to approximation techniques for infinite ment Dermits control svstem researcher and students dimensional system models of flexible inverted pen- to analyae, design, and visualize the performance of dulums. The inverted electromechanical systems under control via real-time Pendulum Envaronnient is a valuable tool for enhanc- faster-than-real.time animation, ing both research and education. Through a user-friendly graphical interface, users