Control analysis and simulation of multi-body systems using full state controllers

Abstract

This paper simulates a dynamic model of a multi-body dynamic system with a Linear Flexible Joint cart with a single Inverted Pendulum (LFJ_IVP). The dynamic equation of motion for the nonlinear system was linearised utilising a suitable state space method with full state feedback and full state observer controllers that act as both servos and regulator systems. The results showed a significant improvement as compared with other researchers’ work using other controls, including an improvement in the response of both the cart position (the state output of the plant), which tracked the designed external input signal to within 20%, with similar results for spring deflection, and an improvement in the amount of deflection of the right angle around the vertical position by 37.24%. There was also a marked improvement in electrical energy consumption, by approximately 55.7% based on the application of the full state feedback controller. Comparing these results to those of other controllers, such as a full state observer controller, there was a significant improvement in the consumption of electrical energy of approximately 33%.