Title :
Bi-axial inverted pendulum modelling
Author_Institution :
Dept. of Process Control, AGH Univ. of Sci. & Technol., Krakow, Poland
Abstract :
The paper presents first approach to modeling of the biaxial inverted pendulum. This model was determined mathematically using the Lagrange equations based on knowledge of the potential and kinetic energy of the cart and placed on the pendulum. It also presents a non-linear model of a biaxial inverted pendulum built in Matlabs SimMechanics toolbox. Then the Matlab linearized model was compared with the linearized model obtained by means of the mathematical calculations.
Keywords :
control engineering computing; mathematics computing; nonlinear systems; pendulums; Lagrange equations; Matlab SimMechanics toolbox; Matlab linearized model; bi-axial inverted pendulum modelling; cart kinetic energy; cart potential energy; nonlinear model; Analytical models; Equations; Force; MATLAB; Mathematical model; Vectors; Lagrange equations; inverted pendulum; modelling;
Conference_Titel :
Carpathian Control Conference (ICCC), 2013 14th International
Conference_Location :
Rytro
Print_ISBN :
978-1-4673-4488-3
DOI :
10.1109/CarpathianCC.2013.6560532
