Mathematical Modelling and Control of Underactuated Mechanical Systems Using MATLAB & Simulink.
Parunandula Shravankumar · Figshare · 2016
In this paper we presented how a physical systemcan be represented as a mathematical model.We used MATLAB’ssymbolic mathematics tool to solve the system dynamic equations.These systems are highly non-linear, so we linearized the systemat unstable fixed points using Taylor series expansion and optimalcontrol algorithms such as Linear Quadratic Regulator(LQR) tobalance the system at the desired position.