For the detailed description of the problem setup, have a look at http://www.engin.umich.edu/group/ctm/examples/pend/invpen.html
You will find there also all the steps of the paper-and-pencil procedure necessary for the equation formulation and transformation
before MATLAB can be used to compute the open-loop response.
Modeling using DYNAST
When using DYNCAD, you need not to
deal with any equations at all. You can easily set up the system model
in graphical form
from a kit of dynamic elements. Open the following system model in DYNCAD and see its Help for more details.
Impulse response computation
To compute the open-loop impulse response of the system using DYNCAD
Transfer function computation
DYNAST can also provide linearization and semisymbolic analysis of the system model. To see the following list of poles and zeros of the system transfer function(s)
Digital control of DYNAST model by MATLAB
Following the procedure given
can design a digital PID controller for the plant using the transfer function
computed by DYNAST.
To avoid copying the transfer function data manually it is posibble to export the data in an M-file for MATLAB sent to you by e-mail. To recieve it
To provide the digital control follow these steps:
Start the simulation in the SIMULINK Simulation menu to obtain the following closed-loop response.