An interactive flexible inverted pendulum modeling, simulation, animation, and real-time (MoSART) control environment for enhancing control design

This paper describes the application of the Modeling, Simulation, Animation, and Real-Time Control (MoSART) Flexible Inverted Pendulum Environment to the study of rigid link approximations to the flexible inverted pendulum. The MoSART environment is used to visualize the system dynamics of different...

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Bibliographic Details
Main Authors: Metzger, R.P., Rodriguez, A.A.
Format: Conference Proceeding
Language:English
Subjects:
Analytical models
Animation
Control design
Control system synthesis
Design engineering
Mathematical model
MATLAB
Real time systems
Systems engineering and theory
Visualization
Online Access:Request full text
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Summary:This paper describes the application of the Modeling, Simulation, Animation, and Real-Time Control (MoSART) Flexible Inverted Pendulum Environment to the study of rigid link approximations to the flexible inverted pendulum. The MoSART environment is used to visualize the system dynamics of different rigid link models and to evaluate the performance of control systems. Controller designs for simpler rigid pendulums or fewer flexible modes can be applied to pendulum models including additional flexible modes in order to investigate the limitation of controller design. Additionally, these rigid link models allow comparison to approximation techniques for infinite dimensional system models of flexible inverted pendulums. The developed MoSART Flexible Inverted Pendulum Environment is a valuable tool for enhancing both research and education.
ISSN:0743-1619
2378-5861
DOI:10.1109/ACC.2003.1239091