Rotary Inverted Pendulum SDRE Control

Version 1.0.0 (33.5 KB) by Saeed Rafee Nekoo
These codes provide simulation and experiments of SDRE + SMC of a rotary inverted pendulum.
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Updated 17 Mar 2025

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Dynamics of rotary inverted pendulum: Section_2_Dynamics_RIP.m
MATLAB script code of RIP control: Run_RIP_Control_SDRE_Voltage_Control.m
SIMULINK control of RIP: first run RIP_Control_Simulink_3_SDRESMC_ZOH.mdl then run P_RIP.m
For experiment codes, you need the platform and Arduino code and setup connection (each one is one type of control, a single script is enough for experimental implementation): v3_for_loop_PD.m, v4_for_loop_SDRE.m, v5_for_loop_SDRESMC.m, v6_for_loop_SDREISMC.m, v7_for_loop_SDRE_SwingingUp.m

Cite As

Nekoo, S. R. (2020). Digital implementation of a continuous-time nonlinear optimal controller: An experimental study with real-time computations. ISA transactions, 101, 346-357.

MATLAB Release Compatibility
Created with R2024b
Compatible with any release
Platform Compatibility
Windows macOS Linux
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Version Published Release Notes
1.0.0