pendulum_control_ode

pendulum_control_ode, a MATLAB code which studies the stability, behavior, and control of a robot arm that is modeled as a damped, driven pendulum. It is based on a case study by Dianne O'Leary, "Swinging Like a Pendulum".

Licensing:

The information on this web page is distributed under the MIT license.

Languages:

pendulum_control_ode is available in a MATLAB version.

Related Programs:

pendulum_control_ode_test

Reference:

1. Dianne O'Leary, Yalin Sagduyu,
   Robot Control: Swinging Like a Pendulum,
   Computing in Science and Engineering,
   Volume 5, Number 4, July/August 2003.
2. Dianne O'Leary,
   Scientific Computing with Case Studies,
   SIAM, 2008,
   ISBN13: 978-0-898716-66-5,
   LC: QA401.O44.
3. pendulum_control_ode.pdf
4. Dianne O'Leary's Scientific Computing with Case Studies https://www.cs.umd.edu/users/oleary/SCCS/

Source code:

• energy.m, determines the energy required to move pendulum to a specific angle.
• pendulum_deriv.m, sets the right hand side of the ODE system.
• pendulum_parameters.m, stores, updates, or retrieves parameter values for the pendulum control ODE.
• shooting.m, used in the shooting method, this function evaluates the difference between the observed and desired solution values at the right endpoint.