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Figure 1. <t>Simscape</t> model of the RIP. The control input is denoted by u; the angular displacement of the horizontal arm is denoted by q1, and the angular position of the pendulum is denoted by q2.
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Figure 1. Simscape model of the RIP. The control input is denoted by u; the angular displacement of the horizontal arm is denoted by q1, and the angular position of the pendulum is denoted by q2.

Journal: Modelling—International Open Access Journal of Modelling in Engineering Science

Article Title: Modeling, Simulation, and Control of a Rotary Inverted Pendulum: A Reinforcement Learning-Based Control Approach

doi: 10.3390/modelling5040095

Figure Lengend Snippet: Figure 1. Simscape model of the RIP. The control input is denoted by u; the angular displacement of the horizontal arm is denoted by q1, and the angular position of the pendulum is denoted by q2.

Article Snippet: The MATLAB®/Simulink Simscape TMMultibodyTM toolbox, previously known as SimMechanics, is a simulation environment specifically focused on the modeling and simulation of 3D mechanical systems, such as vehicle suspensions, robots, construction machinery, and aircrafts vehicles, among other mechatronic systems.

Techniques: Control

Figure 9. Time evolution of angular positions of the Simscape and mathematical model for (a) arm position and (b) pendulum position.

Journal: Modelling—International Open Access Journal of Modelling in Engineering Science

Article Title: Modeling, Simulation, and Control of a Rotary Inverted Pendulum: A Reinforcement Learning-Based Control Approach

doi: 10.3390/modelling5040095

Figure Lengend Snippet: Figure 9. Time evolution of angular positions of the Simscape and mathematical model for (a) arm position and (b) pendulum position.

Article Snippet: The MATLAB®/Simulink Simscape TMMultibodyTM toolbox, previously known as SimMechanics, is a simulation environment specifically focused on the modeling and simulation of 3D mechanical systems, such as vehicle suspensions, robots, construction machinery, and aircrafts vehicles, among other mechatronic systems.

Techniques: