Dear community,
I am trying to build a model of a Furuta pendulum in Simulink/Simscape. Unfortunately, when I try to linearize my model with the integrated Model Linearizer, I get an unexpected result. The evaluation of the linearized system shows, that it is only poorly controllable, although a classic Furuta pendulum should be fully controllable according to literature. Therefore I assume, that there must be something wrong with my model or the way I linearized it but I can´t figure out what it is.... I´d highly appreciate any help on that, as this is bothing me for quite some time now. The model is attached to this post. Furthermore I have attached a screenshot of the linearized system.
My controllability matrix (ctrb(A,B)) then looks like this with rank = 1, which I believe can´t be right...
Controllability matrix =
1.0e+26 *
0 0.0000 0.0000 -0.0000 0.0000
0.0000 0.0000 -0.0000 0.0000 -0.0007
0 0.0000 0.0000 -0.0000 0.0000
0.0000 0.0000 -0.0000 0.0000 -0.0015
0.0000 -0.0000 0.0000 -0.0000 9.2972
Thank you and best regards, Joo
Hi,
Maybe you have some thing wrong in step of discritisation and linearisation of your simulation. Also i suggest you to see links and attached files on topic.
http://users.isr.ist.utl.pt/~jsm/SPARSIS/2016_Samuel_Balula_MSc.pdf
Article Linear State Feedback Regulation of a Furuta Pendulum: Desig...
Best regards
First column of A matrix is surely wrong, it should have the same structure of the third one. Also, looking at both C and D matrices, are you sure you didn't get any warning?
for me the answers is to know the balancing theory of a motor relay times the reverse power and have a plus minus every second to have by the system identifications engineering theory .
A good way to model this is in MATLAB using KALMAN filter.
You can find this on YOUTUBE.
Search GOOGLE for
KALMAN FILTER.
I found something very
interesting about this.
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