Hi,
I am having some problems regarding the simulation of a Non Linear subsystem and I am feeling like I am getting stuck into a hole, because I do not know whats going on. I posted some messages before, but I had no response and I would want to try it another time.
I am designing a controller for a swing-up and balance of an inverted pendulum mounted on a cart system. I created a non linear model which represents the full range non linear equations of motion and also a linearized model towards the upright equilibrium point, in order to design the balance controller (using linear techniques).
I am able to design and simulate some controllers for the Linear model, but when I try to apply the same controllers to the Non Linear Model it seems to freeze in an infinite loop.
I am also attaching the VIs so you can take a look, but note that they are a little bit to look at because of the parameters of the model and the notation. Basically there are three simulation subsystems, two of them represent the two equation of motion for the displacement of the cart (X) and the pendulum angle (Theta). The complete subsystem includes the linear actuator dynamics that there is a DC motor with a planetary gearbox.
then I am attaching three different simulation VIs, first one is the non linear model (NML) in open loop response versus different input signals. I am putting this in order you could see that the susbsystem model is valid. The second one is the linear model (ML) performing a state feedback controller with two different startegias (pole placement and linera quadratic regulator), so you could see that it works fine. The last one is the non linear model feedback simulation controller that fails. I hope it wont be a serious problem, but I am not being able to solve....
Any help to overcome this is very apreciated, since I do not know where to research to overcome this problem.
Best regards.
LabVIEW Enthusiast
