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Model predictive control and a system model of an inverted pendulum are used to plan a trajectory of the cart to maintain balance of the pendulum mass. In this exercise, a pendulum mass is moved from one position to another by calculating an optimal sequence of moves by the actuator (cart). See http://apmonitor.com/do/index.php/Main/FinalExam for the full problem statement and source code.
Source
Inverted Pendulum Stabilization in MATLAB
amazing
Thank you for sharing. A lot of the modeling will use Force at the wheel axel as the variable. What if you want to control the DC motor voltage (PWM as micro controller output) as the input to the system…I imagine in that case that maybe I could model the DC motor separately and use the wheel angular acceleration to derive the input to the cart plant (Fcart = Mcart x Wheel'sLinear Acceleration), where WheelsLinearAcceleration = Radius_wheel x d(theta_dot)/dt…