Tools

State Observer and Controller Design for Pendulum on Cart            

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

  1. 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

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

Fig. 3. Button to enter the desired pole values

  1. Enter the desired pole values.

Fig. 4. The desired pole values

  1. Click on 'Design' dropdown button and select the desired option for the design.

Fig. 5. Dropdown button for selecting the required design option

  1. Click on the 'Run' button to run the selected design.

Fig. 6. Run button to calculate the selected design

  1. Click on the 'Rank' or 'Determinant' or "inference' buttons to get the the Controllability test information and state feedback gain values.

Fig. 7. Rank, determinant and inference of the Controllability test

  1. Click on 'Design' dropdown button and select the desired option for calculating the design.

Fig. 8. Dropdown button for selecting the required design option

  1. Click on the 'Rank' or 'Determinant' or "inference' buttons to get the the Observability test information and observer gain values.

Fig. 9. Rank, determinant and inference of the Observability test

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