FurutaPendulum
The Furuta pendulum has a motor controlling the angle of an arm, from
which a free-swinging pendulum hangs. The objective is to swing the
pendulum up and then balance it.
Execution
An execution of the model displays various signals and at the bottom produces a 3-D animation of the physical system.
Model by Johan Eker
Top-Level Model
The top-level is a continuous-time model that specifies the dynamics
of the physical system as a set of nonlinear ordinary differential
equations, and encapsulates a closed loop controller.
Framework by Jie Liu
Higher-Order Components
Complex submodels are generated automatically from equations
describing the physical dynamics.
Framework by Jie Liu
A Modal Controller
The controller itself is modal, with three modes of operation, where a
different control law is specified for each mode.
Framework by Xiaojun Liu
The Discrete Controllers
Three discrete submodels (dataflow models) specify control laws for
each of three modes of operation.
Framework by Steve Neuendorffer
The Graphical Animator
A 3-D graphical animation is constructed modularly as a parametric
scene graph that is driven by the physical model.
Framework by Chamberlain Fong
The block diagram
for the model was constructed using the Ptolemy II schematic editor
called Vergil.