How to model second order nonliniar in simulink
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I have a dynamics model of a 3DOF robotic arm of the form:
and u is the motors torqes.
I've already whriten and solved those equations in Matlab (designed a feedback lianirzation controller to follow a given trajectory)
I need to design a PID controller (without inverse dynamics\ computed torqe),
So I've thought using the PID tuner in Simulink or the slTuner function in matlab,
but from what I saw there isn't an "easy" way to put those nonliniar matricies into Simulink.
Paul on 11 Jul 2022
Hi Barak Bar-on,
I depends on the form of the matrices and what you consider easy.
If you already have a .m function in Matlab that computes M, C, and G given q and qdot, you always have the option of copying the code from that function file into a Matlab Function block in Simulink, or have the Matlab Function block act as a wrapper and call the Matlab function. See the doc pages for more info.