Suspended and inverted pendulums were built in AutoDesk Inventor. SimMechanics is used to generate a Simulink model. This model generates the dynamics implicitly, so there is no need to solve the equations of motion by hand. The dynamics are used by control optimization software: DIDO, available commercially. Sample results are included along with analysis which compares it against a linearly-optimal state transformation and the linear-quadratic-regulator. In addition, optimality conditions are verified based on the explicit equations of motion.
Alan Jennings (2022). SimMechanics pendulum used for control optimization (https://www.mathworks.com/matlabcentral/fileexchange/28597-simmechanics-pendulum-used-for-control-optimization), MATLAB Central File Exchange. 取得済み .
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