How to work with control system tuner/designer app with Simscape Multibody System ?

I am currently working with balacing rotary double inverted pendulum system using simscape multibody environment. But i have faced a problem of how to obtain the state space model of the system and continue to develope the controller for upright balancing position. What is the proper path of designing such a controller in Matlab. I want to simulate this system in simscape multibody environment and observe the behavior ?

Answer 1

[Andrew Ouellette]

Hi @Samarasekara Muhandiramge Salila Dinendra,

Your post seems to a few distinct but related questions:

1) How can I obtain a state-space model of my system?

2) How can I design a controller for my system using Control System Designer or Control System Tuner?

3) How can I simulate my results?

You can achieve 1) by linearizing your system. You can explore using the Model Linearizer app to do so. If your system is difficult to linearize, you can try using frequency response estimation to obtain an frd model of your system.

There are a few ways to achieve 2). You can first linearize your system and launch the apps using your linearized model, or you can directly launch the apps from Simulink. There are a few differences between the apps. MIMO systems are supported only by Control System Tuner. Control System Tuner expects a fixed structure for your controller, whereas Control System Designer has several methods for free structure design.

For 3), you can simulate your system with your controller by clicking the "Update blocks" buttons in the apps if launched through Simulink; otherwise, you will need to add in appropriate blocks for your controllers and import your results from MATLAB.

[Samarasekara Muhandiramge Salila Dinendra]

Thank You