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.