A Simulink Library for Inverted Pendula Modeling and Simulation
نویسندگان
چکیده
Abstract This paper aims to provide an insight into the functionality of the Inverted Pendula Modeling and Control, a custom, thematic Simulink block library which was designed to provide software support for the analysis and synthesis of inverted pendula systems. In addition, crucial modeling procedures such as the derivation of motion equations for inverted pendula systems and symbolic linearization with respect to a given equilibrium point are presented in form of symbolic algorithms, generalized for a system of n inverted pendula.
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