Hi, I've been working on my control project and have had some trouble recently any help would be appreciated!
I'm currently trying to control an inverted pendulum system within Simulink, where the inverted pendulum has been modelled using Multibody Simscape (see photo):
I'm trying to control both the angle, and position of the inverted pendulum, meaning the system is SIMO. However, one difficulty of the closed loop system is that the angle, and position feedback is sampled and held at 30Hz (sample and hold block), so there are purposely introduced quantisation errors in the system. This quantisation error has been implemented in the system like this (see photo):
If you could provide some advice, or resources useful on how to solve the following problems I am having I would be incredibly grateful:
- The system is stable for high sampling rates (3000hz), however not for 30hz. How do I ensure it can be stable at 30hz (high quantisation errors)?
- The current setup only controls either angle, or position, i'm not completely sure how to control both at the same time. Will I need to use an LQR for this?
Thankyou for your time!
