How do I stabilize an inverted Pendulum linked to a wheel in Simscape and Simulink?

Hi, I am trying to simulate a inverted Pendulum that is linked to a rotating cylindric plate via a revolute joint. The pendulum starts with an angle of 0°(straight downwards) and the target angle(straight upwards) is pi. My input signal is a torque on a wheel. I have created a control system that uses the outputs pendulum-angle and angular velocity to tilt the pendulum up. Once it reaches the target angle it destabalizes though.

I need help creating a stabilizing control loop or improving my currend control system.

I am using Simscape for the Mechanical System definition and Simulink for the control structures.

Answer 1

[Nicolas Schmit]

1. Configure the cylindrical and revolute joints so that the system starts in an equilibrium position, with the pendulum upward.
2. Give a small initial angle (a few degrees) to the pendulum, and see if your controller reacts as expected.
3. Set the proportional feedback gain so that the controller creates a torque that counteracts the displacement from the equilibrium position.
4. Set the derivative gain so that the controller damps the oscillations.