Rotary Inverted Pendulum SDRE Control
These codes provide simulation and experiments of SDRE + SMC of a rotary inverted pendulum.
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Dynamics of rotary inverted pendulum: Section_2_Dynamics_RIP.m
MATLAB script code of RIP control: Run_RIP_Control_SDRE_Voltage_Control.m
SIMULINK control of RIP: first run RIP_Control_Simulink_3_SDRESMC_ZOH.mdl then run P_RIP.m
For experiment codes, you need the platform and Arduino code and setup connection (each one is one type of control, a single script is enough for experimental implementation): v3_for_loop_PD.m, v4_for_loop_SDRE.m, v5_for_loop_SDRESMC.m, v6_for_loop_SDREISMC.m, v7_for_loop_SDRE_SwingingUp.m
Cite As
Nekoo, S. R. (2020). Digital implementation of a continuous-time nonlinear optimal controller: An experimental study with real-time computations. ISA transactions, 101, 346-357.
General Information
- Version 1.0.0 (33.5 KB)
MATLAB Release Compatibility
- Compatible with any release
Platform Compatibility
- Windows
- macOS
- Linux
| Version | Published | Release Notes | Action |
|---|---|---|---|
| 1.0.0 |
