INVERTED PENDULUM WITH LINEAR SYNCHRONOUS MOTOR SWING UP USING BOUNDARY VALUE PROBLEM

Research in the field of underactuated systems shows that control algorithms which take the natural dynamics of the system’s underactuated part into account are more energy-efficient than those utilizing fully-actuated systems. The purpose of this paper to apply the two-degrees-of-freedom (feedforward/feedback) control structure to design a swing-up manoeuver that involves tracking the desired trajectories so as to achieve and maintain the unstable equilibrium position of the pendulum on the cart system. The desired trajectories are obtained by solving the boundary value problem of the internal system dynamics, while the optimal state-feedback controller ensures that the desired trajectory is tracked with minimal deviations. The proposed algorithm is verified on the simulation model of the available laboratory model actuated by a linear synchronous motor, and the resulting program implementation is used to enhance the custom Simulink library Inverted Pendula Modeling and Control, developed by the authors of this paper

Modelling and Analysis of the Lift System as a Hybrid System

This paper deals with one of the challenges of cyber-physical systems, namely modelling them as hybrid systems. Specifically the paper aims to utilize hybrid systems framework onto the lift system which comes from the real laboratory lift. The mathematical model was derived using hybrid automata framework in synergy with linear temporal logic. Hybrid automata framework was used to describe continuous dynamics as well as discrete dynamics of the lift system mathematical model. Linear temporal logic was used to formally define rules according to which the lift system is constrained. The whole logic, system dynamics and constrains are then implemented within MATLAB/Simulink environment using Stateflow toolbox. Finally, the verification of the lift mathematical model is performed within chosen scenarios