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 language | English (US) |
|---|---|
| Title of host publication | Proceedings of the American Control Conference |
| Pages | 639-644 |
| Number of pages | 6 |
| Volume | 1 |
| State | Published - 2003 |
| Event | 2003 American Control Conference - Denver, CO, United States Duration: Jun 4 2003 → Jun 6 2003 |
Other
| Other | 2003 American Control Conference |
|---|---|
| Country/Territory | United States |
| City | Denver, CO |
| Period | 6/4/03 → 6/6/03 |
ASJC Scopus subject areas
- Control and Systems Engineering