Procedure

Steps to perform the simulation

1. Enter the parameter values of the Inverted Pendulum on cart.



Fig. 1. Parameter values of the Inverted pendulum on cart



2. Click on 'State Space Model' button to get the state space form of the system.





Fig. 2. Button to get the state Space form of the system




3. Click on ' Enter the Pole Location' button to enter the desired pole values.



Fig. 3. Button to enter the desired pole values



4. Enter the desired pole values.



Fig. 4. The desired pole values



5. Click on 'Design' button for calculating the state feedback gain and pre-compensator gain values.



Fig. 5. Button to calculate the state feedback and pre-compensator gain values



6. Click on the 'Rank' or 'Determinant' or "Inference' or ' Gain Values' buttons to get the the Controllability test information and gain values.



Fig. 6. Rank, Determinant, Inference and Gain Values of the Controllability test and feedback gain with pre-compensator information



7. Click on 'Clear' button to enter the new parameter values of the system.