Integrator does not accept input
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Hello, I'm trying make a model in simulink of an inverted pendulum and I can't simulate the space state. It's still telling me about that the integrator does not accept the input. Does anyone know what do to in this situation?
The formula that I'm trying to simulate:
Simulation:
The error:
Matlab code:
%%Parameters
Mp = 0.272;
dM = 0.071;
g = 9.81;
J = 0.002;
Jw = 3.941*10^-5;
b_theta = 0.82*10^-3;
b_altha_kmke_Ra = 1.202*10^-4;
km_Ra = 1.837*10^-4;
%%Matrice
A = [0 1 0 0;
(Mp*dM*g)/J -(b_theta)/J 0 1/J*b_altha_kmke_Ra;
0 0 0 1;
-(Mp*g*dM)/J b_theta/J 0 -(J+Jw)/(J*Jw)*b_altha_kmke_Ra];
B = [0 0;
-1/J*km_Ra 1/J;
0 0;
(J+Jw)/(J*Jw)*km_Ra -1/J]
C = [1 0 0 0;
0 1 0 0;
0 0 1 0;
0 0 0 0];
D = [0 0; 0 0;0 0;0 0];
%%Build system
sys = ss(A,B,C,D);
x0 = [5*pi/180;0;0;0]; %initial condition for the integrator
采纳的回答
Sam Chak
2024-6-24
0 个投票
The error is caused the mismatched matrix dimension. Do the following as shown in the graphics below should fix the issue. However, the built-in State-Space block can also perform the job equally.
2 个评论
Andrei Rotaru
2024-6-24
If you wish to extract the state variables x, then only the state matrix equations 
is necessary. First, the output and direct matrices must be constructed as shown below. Then, the individual state variables can be extracted using the "Demux" block.
is necessary. First, the output and direct matrices must be constructed as shown below. Then, the individual state variables can be extracted using the "Demux" block.A = [zeros(3, 1), eye(3); zeros(1, 4)]
B = [0; 0; 0; 1]
C = eye(size(A))
D = 0*eye(size(A))*B
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