12/22/2015 Control Tutorials for MATLAB and Simulink - Inverted Pendulum: System Modeling

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12/22/2015 Control Tutorials for MATLAB and Simulink - Inverted Pendulum: System Modeling

SYSTEM

MODELING Inverted Pendulum: System

ANALYSIS Modeling

Key MATLAB commands used in this tutorial are: tf, ss, set
CONTROL

PID
Contents
ROOT LOCUS
Problem setup and design requirements
FREQUENCY
Force analysis and system equations

STATE­SPACE MATLAB representation

DIGITAL

Problem setup and design requirements

SIMULINK The system in this example consists of an inverted pendulum

mounted to a motorized cart. The inverted pendulum system is an

MODELING
example commonly found in control system textbooks and research
CONTROL literature. Its popularity derives in part from the fact that it is

unstable without control, that is, the pendulum will simply fall over if

the cart isn't moved to balance it. Additionally, the dynamics of the
system are nonlinear. The objective of the control system is to

balance the inverted pendulum by applying a force to the cart that

the pendulum is attached to. A real­world example that relates

directly to this inverted pendulum system is the attitude control of a

booster rocket at takeoff.

In this case we will consider a two­dimensional problem where the

pendulum is contrained to move in the vertical plane shown in the

figure below. For this system, the control input is the force that
moves the cart horizontally and the outputs are the angular position

of the pendulum and the horizontal position of the cart .

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12/22/2015 Control Tutorials for MATLAB and Simulink - Inverted Pendulum: System Modeling

For this example, let's assume the following quantities:

(M) mass of the cart 0.5 kg

(m) mass of the pendulum 0.2 kg

(b) coefficient of friction for cart 0.1 N/m/sec

(l) length to pendulum center of mass 0.3 m

(I) mass moment of inertia of the pendulum 0.006 kg.m^2

(F) force applied to the cart

(x) cart position coordinate

(theta) pendulum angle from vertical (down)

For the PID, root locus, and frequency response sections of this

problem, we will be interested only in the control of the pendulum's

position. This is because the techniques used in these sections are

best­suited for single­input, single­output (SISO) systems.
Therefore, none of the design criteria deal with the cart's position.

We will, however, investigate the controller's effect on the cart's

position after the controller has been designed. For these sections,
we will design a controller to restore the pendulum to a vertically

upward position after it has experienced an impulsive "bump" to the

cart. Specifically, the design criteria are that the pendulum return to
its upright position within 5 seconds and that the pendulum never

move more than 0.05 radians away from vertical after being
disturbed by an impulse of magnitude 1 Nsec. The pendulum will
initially begin in the vertically upward equilibrium, = .

In summary, the design requirements for this system are:

Settling time for of less than 5 seconds

Pendulum angle never more than 0.05 radians from the

vertical

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12/22/2015 Control Tutorials for MATLAB and Simulink - Inverted Pendulum: System Modeling

Employing state­space design techniques, we are more readily able

to address a multi­output system. In our case, the inverted

pendulum system is single­input, multi­output (SIMO). Therefore,

for the state­space section of the Inverted Pendulum example, we
will attempt to control both the pendulum's angle and the cart's

position. To make the design more challenging in this section, we

will command a 0.2­meter step in the cart's desired position. Under
these conditions, it is desired that the cart achieve its commanded

position within 5 seconds and have a rise time under 0.5 seconds.
It is also desired that the pendulum settle to its vertical position in
under 5 seconds, and further, that the pendulum angle not travel

more than 20 degrees (0.35 radians) way from the vertically upward
position.

In summary, the design requirements for the inverted pendulum

state­space example are:

Settling time for and of less than 5 seconds

Rise time for of less than 0.5 seconds

Pendulum angle never more than 20 degrees (0.35 radians)

from the vertical

Steady­state error of less than 2% for and

Force analysis and system equations

Below are the free­body diagrams of the two elements of the

inverted pendulum system.

Summing the forces in the free­body

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12/22/2015 Control Tutorials for MATLAB and Simulink - Inverted Pendulum: System Modeling
Summing the forces in the free­body diagram of the cart in the
horizontal direction, you get the following equation of motion.

(1)

Note that you can also sum the forces in the vertical direction for

the cart, but no useful information would be gained.

Summing the forces in the free­body diagram of the pendulum in

the horizontal direction, you get the following expression for the
reaction force .

(2)

If you substitute this equation into the first equation, you get one of
the two governing equations for this system.

(3)

To get the second equation of motion for this system, sum the
forces perpendicular to the pendulum. Solving the system along
this axis greatly simplifies the mathematics. You should get the

following equation.

(4)

To get rid of the and terms in the equation above, sum the

moments about the centroid of the pendulum to get the following

equation.

(5)

Combining these last two expressions, you get the second

governing equation.

(6)

Since the analysis and control design techniques we will be

employing in this example apply only to linear systems, this set of
equations needs to be linearized. Specifically, we will linearize the

equations about the vertically upward equillibrium position, = ,

and will assume that the system stays within a small neighborhood
of this equillbrium. This assumption should be reasonably valid

since under control we desire that the pendulum not deviate more
than 20 degrees from the vertically upward position. Let
represent the deviation of the pedulum's position from equilibrium,

that is, = + . Again presuming a small deviation ( ) from

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12/22/2015 Control Tutorials for MATLAB and Simulink - Inverted Pendulum: System Modeling
that is, = + . Again presuming a small deviation ( ) from
equilibrium, we can use the following small angle approximations of
the nonlinear functions in our system equations:

(7)

(8)

(9)

After substiting the above approximations into our nonlinear

governing equations, we arrive at the two linearized equations of
motion. Note has been substituted for the input .

(10)

(11)

1. Transfer Function

To obtain the transfer functions of the linearized system equations,

we must first take the Laplace transform of the system equations

assuming zero initial conditions. The resulting Laplace transforms

are shown below.

(12)

(13)

Recall that a transfer function represents the relationship between a

single input and a single output at a time. To find our first transfer

function for the output and an input of we need to

eliminate from the above equations. Solve the first equation
for .

(14)

Then substitute the above into the second equation.

(15)

Rearranging, the transfer function is then the following

(16)

where,
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12/22/2015 Control Tutorials for MATLAB and Simulink - Inverted Pendulum: System Modeling

(17)

From the transfer function above it can be seen that there is both a
pole and a zero at the origin. These can be canceled and the
transfer function becomes the following.

(18)

Second, the transfer function with the cart position as the

output can be derived in a similar manner to arrive at the following.

(19)

2. State­Space

The linearized equations of motion from above can also be

represented in state­space form if they are rearranged into a series
of first order differential equations. Since the equations are linear,
they can then be put into the standard matrix form shown below.

(20)

(21)

The matrix has 2 rows because both the cart's position and the

pendulum's position are part of the output. Specifically, the cart's

position is the first element of the output and the pendulum's
deviation from its equilibrium position is the second element of .

MATLAB representation

1. Transfer Function

We can represent the transfer functions derived above for the

inverted pendulum system within MATLAB employing the following
commands. Note that you can give names to the outputs (and
inputs) to differentiate between the cart's position and the
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12/22/2015 Control Tutorials for MATLAB and Simulink - Inverted Pendulum: System Modeling

pendulum's position. Running this code in the command window

produces the output shown below.

M = 0.5;
m = 0.2;
b = 0.1;
I = 0.006;
g = 9.8;

l = 0.3;
q = (M+m)*(I+m*l^2)-(m*l)^2;
s = tf('s');

P_cart = (((I+m*l^2)/q)*s^2 - (m*g*l/q))/(s^4 + (b*(I + m*l^2))*s

P_pend = (m*l*s/q)/(s^3 + (b*(I + m*l^2))*s^2/q - ((M + m)*m*g*l)

sys_tf = [P_cart ; P_pend];

inputs = {'u'};
outputs = {'x'; 'phi'};

set(sys_tf,'InputName',inputs)
set(sys_tf,'OutputName',outputs)

sys_tf

sys_tf =

From input "u" to output...

4.182e-06 s^2 - 0.0001025

x: ---------------------------------------------------------
2.3e-06 s^4 + 4.182e-07 s^3 - 7.172e-05 s^2 - 1.025e-05 s

1.045e-05 s
phi: -----------------------------------------------------

2.3e-06 s^3 + 4.182e-07 s^2 - 7.172e-05 s - 1.025e-05

Continuous-time transfer function.

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12/22/2015 Control Tutorials for MATLAB and Simulink - Inverted Pendulum: System Modeling

2. State­Space

We can also represent the system using the state­space equations.

The following additional MATLAB commands create a state­space

model of the inverted pendulum and produce the output shown

below when run in the MATLAB command window. Again note that
the names of the inputs, outputs, and states can be specified to
make the model easier to understand.

M = .5;
m = 0.2;
b = 0.1;
I = 0.006;

g = 9.8;
l = 0.3;

p = I*(M+m)+M*m*l^2; %denominator for the A and B matrices

A = [0 1 0 0;

0 -(I+m*l^2)*b/p (m^2*g*l^2)/p 0;
0 0 0 1;
0 -(m*l*b)/p m*g*l*(M+m)/p 0];
B=[ 0;
(I+m*l^2)/p;
0;

m*l/p];
C = [1 0 0 0;
0 0 1 0];
D = [0;
0];

states = {'x' 'x_dot' 'phi' 'phi_dot'};

inputs = {'u'};
outputs = {'x'; 'phi'};

sys_ss = ss(A,B,C,D,'statename',states,'inputname',inputs,

sys_ss =

a=

x x_dot phi phi_dot

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12/22/2015 Control Tutorials for MATLAB and Simulink - Inverted Pendulum: System Modeling
x x_dot phi phi_dot
x 0 1 0 0
x_dot 0 -0.1818 2.673 0
phi 0 0 0 1
phi_dot 0 -0.4545 31.18 0

b=
u
x 0
x_dot 1.818
phi 0
phi_dot 4.545

c=
x x_dot phi phi_dot
x 1 0 0 0
phi 0 0 1 0

d=
u
x 0
phi 0

Continuous-time state-space model.

The above state­space model can also be converted into transfer

function form employing the tf command as shown below.
Conversely, the transfer function model can be converted into
state­space form using the sscommand.

sys_tf = tf(sys_ss)

sys_tf =

From input "u" to output...

1.818 s^2 + 1.615e-15 s - 44.55

x: --------------------------------------
s^4 + 0.1818 s^3 - 31.18 s^2 - 4.455 s

4.545 s - 1.277e-16
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12/22/2015 Control Tutorials for MATLAB and Simulink - Inverted Pendulum: System Modeling
4.545 s - 1.277e-16
phi: ----------------------------------
s^3 + 0.1818 s^2 - 31.18 s - 4.455

Continuous-time transfer function.

Examining the above, note the existance of some terms with very
small coefficients. These terms should actually be zero and show
up due to numerical round­off errors that accumulate in the

conversion algorithms that MATLAB employs. If you set these

coefficients to zero, then the above transfer function models will
match those generated earlier in the Transfer Function section of
the example.

Published with MATLAB® 8.0

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