Example: Train DDPG Agent to Swing Up and Balance Pendulum: Where are mechanical constants initialized ?

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Roy Nordstrom
Roy Nordstrom 2023-2-7
评论： Roy Nordstrom 2023-2-8
Inside the pendulum block is a gain block with gain 1/( I + (m * L^2) ), where m is the mass of the pendulum, and L is the length of the pendulum.
What is the first term I (an uppercase i) and why is it there ? To my knowledge theta_ddot = torque/( mass * (length^2) )
Additionally where are these constants initialized ?
Similarly, for the gain block with the gain of c, what are the units for this constant and where is it initialized ?
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William Rose
William Rose 2023-2-7
@Roy Nordstrom, it seems that this question is related to your recent simulink question. There is not enough information provided here for others to help. Please provide a context and necessary background info. Thanks.

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Emmanouil Tzorakoleftherakis
编辑：Emmanouil Tzorakoleftherakis 2023-2-7
I am assuming the question is about this example.
Inside the pendulum subsystem, we are modeling the equation (I + ml^2) theta_ddot = tau - c theta_dot + mgl sin(theta), where I (capital i) is moment of inertia and c is damping coefficient. These parameters are defined inside the workspace of the Simulink model, so if you go to the Modeling tab at the toolstrip -> Model Explorer -> Model Workspace you should be able to see the attached.
As you can see, both I and c are set to 0 for this example.

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