Procedure

Steps to perform the simulation

1. Enter the parameter values of the Inverted Pendulum on cart.



Fig. 1. Parameter values of the Inverted pendulum on cart



2. Click on 'State Space Model' button to get the state space form of the system.



Fig. 2. Button to get the state Space form of the system



3. Click on ' Enter the Pole Location' button to enter the desired pole values.



Fig. 3. Button to enter the desired pole values



4. Enter the desired pole values.



Fig. 4. The desired pole values



5. Click on 'Design' dropdown button and select the desired option for calculating the design.



Fig. 5. Dropdown button for selecting the required design option



6. Click on the 'Run' button to run the selected design.



Fig. 6. Run button to calculate the selected design



7. Click on the 'Rank' or 'Determinant' or "Inference' buttons to get the the Controllability test information and state feedback gain values.



Fig. 7. Rank, Determinant and Inference of the Controllability test



8. Enter the required values and click on the 'Closed Loop Response' button to generate the plot.



Fig. 8. Closed Loop Response button to get the plot



9. Note for State Feedback: Enter the initial position value between -10 m to +10 m and enter the initial angle value between -6 ° to +6 ° (as per the practical experiment point of view). Click on the "Closed Loop Response" button.


10. Click on the 'Rank' or 'Determinant' or "Inference' buttons to get the the Observability test information and observer gain values.



Fig. 9. Rank, Determinant and Inference of the Observability test



11. Enter the required values and click on the 'State Estimation Response' button to generate the response plot.



Fig. 10. State Estimation Response button to get the plot



12. Note for Observer: Enter the initial position value between -10 m to +10 m (as per the practical experiment point of view). Click on the "State Estimation Response" button.


13. Click on 'Download' button to download the plot.


14. Click on 'Clear' button to enter the new parameter values of the system.