An Interactive Flexible Inverted Pendulum Modeling, Simulation, Animation, and Real-Time (MoSART) Control Environment for Enhancing Control Design

Richard P. Metzger, Armando Rodriguez

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
Pages639-644
Number of pages6
Volume1
StatePublished - 2003
Event2003 American Control Conference - Denver, CO, United States
Duration: Jun 4 2003Jun 6 2003

Other

Other2003 American Control Conference
CountryUnited States
CityDenver, CO
Period6/4/036/6/03

ASJC Scopus subject areas

  • Control and Systems Engineering

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