Introduction

This notebook illustrates how to build a dynamic model of a physical system and then generate efficient code for simulation.

The physical system is a seesaw in which two carts C1 and C2 can be moved along two tracks by controling the forces acting on them. Cart C1 carries a weight, and cart C2 has an inverted pendulum attached to it by a friction-free joint.

The model of the open loop system has the forces  and  actingon each cart as inputs. We first model the system by Lagrangian methodology and then linearize the obtained nonlinear model. The linearized model is used for control system design, for which the Control System Professional (CSP) application package is used. The closed loop system are then simulated both within Mathematica and by external code generated using MathCode C++.

Converted by Mathematica      July 8, 1999