FuturaInverse Pendulum – Multibody, Multi-Domain Physical Model in MapleSim – Maplesoft

FuturaInverse Pendulum

This model uses multibody components to create a Futura inverse pendulum. After modeling the system in MapleSim, Maple was used to extract the system equations and to obtain the gains for an LQR controller to stabilize the desired rotational motion. The video shows the controller used to keep the pendulum at an upright position. At t=5sec, a disturbance force is applied and stability is still maintained.


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Model: FuturaInverse Pendulum

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Model Images
  • FuturaInversePendulum 3-D visualization of stabilized Futura inverse pendulum.
  • futura A high level model of the system structure, including the plant, the controller and the disturbance subsystem.
MapleSim Video
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