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Modeling a System of Inverted Pendulums in MATLAB

Modeling a System of Inverted Pendulums in MATLAB. Mentee: Hershed Tilak Mentor: Taylor Johnson. Overview. Problem. Why is it important?. The simulation models and verifies the safe functioning of a coupled system very similar to many current and next generation systems.

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Modeling a System of Inverted Pendulums in MATLAB

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  1. Modeling a System of Inverted Pendulums in MATLAB Mentee: Hershed Tilak Mentor: Taylor Johnson

  2. Overview Problem Why is it important? The simulation models and verifies the safe functioning of a coupled system very similar to many current and next generation systems • Modeling a system of inverted pendulums that are coupled together and can all stabilize without colliding with one another

  3. What is an inverted pendulum? • Rod attached to a cart by low-friction bearing • State of cart dictated by four variables: position, velocity, angle, and angular velocity • Only variable that we can control directly is the voltage applied to the cart’s motor

  4. Controller Overview • Three controllers • Safety • Baseline • Experimental • Supervisory controller switches between controllers depending on state of the four variables

  5. Modeling a Disturbance

  6. Uncoupled vs. Coupled Control

  7. Questions?

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