LQR Control Design for an Inverted Pendulum on a Cart System – Multibody, Multi-Domain Physical Model in MapleSim – Maplesoft

LQR Control Design for an Inverted Pendulum on a Cart System

In this example we show how an inverted pendulum sitting on top of a cart can be controlled using an LQR controller. The workflow to design the state controller is described in the worksheet "LQRDesign".

The control strategies used in this model, together with others, are explored in more detail in the application State-Feedback and Observer-Based Control Design.

This model uses the MapleSim Control Design Toolbox
This model was created with MapleSim 2022.2

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Model Images
  • Results Results
  • Model Model diagram of the inverted pendulum and controller
  • Subsystem Subsystem showing the inverted pendulum model and perturbing torque
  • 3dimage 3D rendering of the inverted pendulum
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