I need to write a control loop for my system
This is the equation of motion of the system (inverted pendulum on top of a cart):
-Ml∙ddθ+g(M+m)θ-ml*θ*(dθ)^2=u
This is the structure of the controller I need to build:
I'm having trouble with setting the variables
I did it this way, but I don't get correct results (when I need to calculate these data and not write their known value)
h=-Ml ; a_1=0 ; a_2=g(M+m); b_1=-mlθ; b_2=0;
Im not sure about b1 and b2 because the component θ*(dθ)^2
please help me with this..
thanks so much! :)
