Inverted Pendulum Simscape Model and Controller design

This file contains a Simscape multibody simulation model of an inverted pendulum for pedagogy and learning control systems.

This package can be used to teach modelling and control of an inverted pendulum. Simscape is used to simulate a physical model of an inverted pendulum. Control of the physical model increases engagement of students and provides a lab like experience during online learning.
The stabilisation of the inverted pendulum is demonstrated using a PID, observer-based feedback, and Linear Quadratic Gaussian controllers.
You can also compare the characteristics of the Simscape nonlinear model with a linearized state-space model which is used for controller design.
The input of the pendulum model is the armature voltage and the outputs are the encoder counts for the rotary arm and pendulum. The pdf files provides the details on the model of the pendulum. The package also contains two lab manuals which can be used to teach inverted pendulum simulation and control to students.

Run the Matlab code to initialise the model and controller parameters.
You need to have Simscape and Simscape Multibody to run the simulations.