% Hardware parameters

mp = 0.127; %Mass of pendulum

Lp = 0.337; %Total length of pendulum
Jp = 0.0012; %Moment inertia of pendulum
mr = 0.257; %Mass of arm
Lr = 0.216; %Total length of arm
Jr = 9.98*10^(-4); %Moment inertia of arm
%Jr = .002;
g = 9.8;
%Gravitational force
Tm = 1.8;
%Torque maximum
Vm = 15;
%Voltage maximum
% Model parameters
eta = mp*Lp^2/4;
gamma = Jp + mp*Lp^2/4;
rho = Jr + mp*Lr^2+mr*Lr^2/4;
sigma = mp*Lp*Lr/2;
kappa = mp*g*Lp/2;
epsilon = 1.1;
lambda1=kappa*gamma/(gamma*rho+gamma^2-(epsilon*sigma)^2-epsilon^2*gamma^2);
lambda2=(gamma^2+sigma^2)/sqrt(gamma*(rho+gamma)*(sigma^2+gamma^2));

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=10;
nu =0;
Kp = 0;
Kv =0;
%Initial conditions
q10 = -pi/36;
q20 = 0.01;
p10 = 0.001;
p20 = 0.001;
stoptime =10;
open_system('statef

0.1

q (rad)

q (rad)

0.05

-0.05
-0.1

5
t(sec)

10

5
t(sec)

10

-2

-4

5
t(sec)

10

Torque(N.m)

0.2
0.1
0
-0.1
-0.2

clear
all;
close all;
% Hardware parameters
mp = 0.127; %Mass of pendulum
Lp = 0.337; %Total length of pendulum
Jp = 0.0012; %Moment inertia of pendulum
mr = 0.257; %Mass of arm
Lr = 0.216; %Total length of arm
Jr = 9.98*10^(-4); %Moment inertia of arm
%Jr = .002;
g = 9.8;
%Gravitational force
Tm = 1.8;
%Torque maximum
Vm = 15;
%Voltage maximum
% Model parameters
eta = mp*Lp^2/4;
gamma = Jp + mp*Lp^2/4;
rho = Jr + mp*Lr^2+mr*Lr^2/4;
sigma = mp*Lp*Lr/2;
kappa = mp*g*Lp/2;
epsilon = 1.1;
lambda1=kappa*gamma/(gamma*rho+gamma^2-(epsilon*sigma)^2-epsilon^2*gamma^2);
lambda2=(gamma^2+sigma^2)/sqrt(gamma*(rho+gamma)*(sigma^2+gamma^2));

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=100;
nu =0;
Kp = 0;
Kv =0;
%Initial conditions
q10 = pi/4;
q20 = 0.01;
p10 = 0.01;
p20 = 0.01;

60

40

q (rad)

20

q (rad)

stoptime =10;

-2
-4

5
t(sec)

10

5
t(sec)

10

-20

Torque(N.m)

40
20
0
-20
-40

clearall;
close all;
% Hardware parameters
mp
Lp
Jp
mr
Lr
Jr

=
=
=
=
=
=

0.127; %Mass of pendulum

0.337; %Total length of pendulum
0.0012; %Moment inertia of pendulum
0.257; %Mass of arm
0.216; %Total length of arm
9.98*10^(-4); %Moment inertia of arm

5
t(sec)

10

%Jr = .002;
g = 9.8;
Tm = 1.8;
Vm = 15;

%Gravitational force
%Torque maximum
%Voltage maximum

% Model parameters
eta = mp*Lp^2/4;
gamma = Jp + mp*Lp^2/4;
rho = Jr + mp*Lr^2+mr*Lr^2/4;
sigma = mp*Lp*Lr/2;
kappa = mp*g*Lp/2;
epsilon = 1.1;
lambda1=kappa*gamma/(gamma*rho+gamma^2-(epsilon*sigma)^2-epsilon^2*gamma^2);
lambda2=(gamma^2+sigma^2)/sqrt(gamma*(rho+gamma)*(sigma^2+gamma^2));

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=100;
nu =0;
Kp = 0;
Kv =0;
%Initial conditions
q10 = pi/4;
q20 = 0;
p10 = 0.01;
p20 = 0.1;
stoptime =10;

q (rad)

20

-20

q (rad)

-2
-4

-40

5
t(sec)

10

5
t(sec)

10

-60

5
t(sec)

10

Torque(N.m)

40
20
0
-20
-40

% Hardware parameters
mp = 0.127; %Mass of pendulum
Lp = 0.337; %Total length of pendulum
Jp = 0.0012; %Moment inertia of pendulum
mr = 0.257; %Mass of arm
Lr = 0.216; %Total length of arm
Jr = 9.98*10^(-4); %Moment inertia of arm
%Jr = .002;
g = 9.8;
%Gravitational force
Tm = 1.8;
%Torque maximum
Vm = 15;
%Voltage maximum
% Model parameters
eta = mp*Lp^2/4;
gamma = Jp + mp*Lp^2/4;
rho = Jr + mp*Lr^2+mr*Lr^2/4;
sigma = mp*Lp*Lr/2;
kappa = mp*g*Lp/2;
epsilon = 1.1;
lambda1=kappa*gamma/(gamma*rho+gamma^2-(epsilon*sigma)^2-epsilon^2*gamma^2);
lambda2=(gamma^2+sigma^2)/sqrt(gamma*(rho+gamma)*(sigma^2+gamma^2));

%Controller parameters
m30 = 2*sigma^2/gamma^2;

mplus = 2.1;
%m3 = m30*mplus;
m3=10;
nu =0;
Kp = 0;
Kv =0.0001;
%Initial conditions
q10 = -pi/36;
q20 = 0.01;
p10 = 0.001;
p20 = 0.001;

0.1

0.05

q (rad)

q (rad)

stoptime =10;

-2

0
-0.05
-0.1

-4

5
t(sec)

10

5
t(sec)

10

-6

Torque(N.m)

0.2
0.1
0
-0.1
-0.2

% Hardware parameters
mp = 0.127; %Mass of pendulum
Lp = 0.337; %Total length of pendulum
Jp = 0.0012; %Moment inertia of pendulum
mr = 0.257; %Mass of arm
Lr = 0.216; %Total length of arm
Jr = 9.98*10^(-4); %Moment inertia of arm
%Jr = .002;
g = 9.8;
%Gravitational force
Tm = 1.8;
%Torque maximum
Vm = 15;
%Voltage maximum

5
t(sec)

10

% Model parameters
eta = mp*Lp^2/4;
gamma = Jp + mp*Lp^2/4;
rho = Jr + mp*Lr^2+mr*Lr^2/4;
sigma = mp*Lp*Lr/2;
kappa = mp*g*Lp/2;
epsilon = 1.1;
lambda1=kappa*gamma/(gamma*rho+gamma^2-(epsilon*sigma)^2-epsilon^2*gamma^2);
lambda2=(gamma^2+sigma^2)/sqrt(gamma*(rho+gamma)*(sigma^2+gamma^2));

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=30;
nu =0;
Kp = 0;
Kv =0.01;
%Initial conditions
q10 = -pi/36;
q20 = 0.0001;
p10 = 0.00001;
p20 = 0.009;
stoptime =2;

0.05

0.15
q (rad)

0.2

q (rad)

0.1

0.1

-0.05

-0.1

0.05

0.2

0.4

0.6

0.8

1
t(sec)

1.2

1.4

1.6

1.8

0.2

0.4

0.6

0.8

1
t(sec)

1.2

1.4

1.6

1.8

0.2

0.4

0.6

0.8

1
t(sec)

1.2

1.4

1.6

1.8

-4

x 10

0.02

p (kg.rad/sec)

0.01

-2

p (kg.rad/sec)

-0.01

-4
-6

0.2

0.4

0.6

0.8

1
t(sec)

1.2

1.4

1.6

1.8

0.2

0.4

0.6

0.8

1
t(sec)

1.2

1.4

1.6

1.8

-0.02

Torque(N.m)

0.5

-0.5

-1

% Hardware parameters
mp = 0.127; %Mass of pendulum
Lp = 0.337; %Total length of pendulum
Jp = 0.0012; %Moment inertia of pendulum
mr = 0.257; %Mass of arm
Lr = 0.216; %Total length of arm
Jr = 9.98*10^(-4); %Moment inertia of arm
%Jr = .002;
g = 9.8;
%Gravitational force
Tm = 1.8;
%Torque maximum
Vm = 15;
%Voltage maximum
% Model parameters
eta = mp*Lp^2/4;
gamma = Jp + mp*Lp^2/4;
rho = Jr + mp*Lr^2+mr*Lr^2/4;
sigma = mp*Lp*Lr/2;
kappa = mp*g*Lp/2;
epsilon = 1.1;
lambda1=kappa*gamma/(gamma*rho+gamma^2-(epsilon*sigma)^2-epsilon^2*gamma^2);
lambda2=(gamma^2+sigma^2)/sqrt(gamma*(rho+gamma)*(sigma^2+gamma^2));

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=30;
nu =0.0001;
Kp = .0001;
Kv =0.01;
%Initial conditions
q10 = -pi/36;
q20 = 0;
p10 = 0;
p20 = 0.0095;
stoptime =1.5;

0.2
q (rad)

q (rad)

0.1

0.1

0
-0.1

0.5

1.5

0.5

t(sec)

1.5

1.5

t(sec)

x 10

-5

0
0

0.5

1.5

Torque(N.m)

t(sec)

0
0

0.5

1
t(sec)

clear all;
close all;

0.02
0
-0.02

0.5
t(sec)

-1

p (kg.rad/sec)

p (kg.rad/sec)

-4

1.5

% Hardware parameters
mp = 0.127; %Mass of pendulum
Lp = 0.337; %Total length of pendulum
Jp = 0.0012; %Moment inertia of pendulum
mr = 0.257; %Mass of arm
Lr = 0.216; %Total length of arm
Jr = 9.98*10^(-4); %Moment inertia of arm
%Jr = .002;
g = 9.8;
%Gravitational force
Tm = 1.8;
%Torque maximum
Vm = 15;
%Voltage maximum
% Model parameters
eta = mp*Lp^2/4;
gamma = Jp + mp*Lp^2/4;
rho = Jr + mp*Lr^2+mr*Lr^2/4;
sigma = mp*Lp*Lr/2;
kappa = mp*g*Lp/2;
epsilon = 1.1;
lambda1=kappa*gamma/(gamma*rho+gamma^2-(epsilon*sigma)^2-epsilon^2*gamma^2);
lambda2=(gamma^2+sigma^2)/sqrt(gamma*(rho+gamma)*(sigma^2+gamma^2));

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=25;
nu =0.0001;
Kp = .0001;
Kv =0.01;
%Initial conditions
q10 = -pi/18;
q20 = 0;
p10 = 0;
p20 = 0.04;
stoptime =1.5;

0.4
q (rad)

q (rad)

0.2

0.2

0
-0.2

0.5

1.5

0.5

t(sec)

1.5

1.5

t(sec)

-2

p (kg.rad/sec)

p (kg.rad/sec)

-3

x 10

0.5

1.5

0.05
0
-0.05

Torque(N.m)

t(sec)

0.5
t(sec)

2
0
-2

0.5

1.5

t(sec)

clear all;
close all;
% Hardware parameters
mp = 0.127; %Mass of pendulum
Lp = 0.337; %Total length of pendulum
Jp = 0.0012; %Moment inertia of pendulum
mr = 0.257; %Mass of arm
Lr = 0.216; %Total length of arm
Jr = 9.98*10^(-4); %Moment inertia of arm
%Jr = .002;
g = 9.8;
%Gravitational force
Tm = 1.8;
%Torque maximum
Vm = 15;
%Voltage maximum
% Model parameters
eta = mp*Lp^2/4;
gamma = Jp + mp*Lp^2/4;
rho = Jr + mp*Lr^2+mr*Lr^2/4;
sigma = mp*Lp*Lr/2;
kappa = mp*g*Lp/2;
epsilon = 1.1;
lambda1=kappa*gamma/(gamma*rho+gamma^2-(epsilon*sigma)^2-epsilon^2*gamma^2);
lambda2=(gamma^2+sigma^2)/sqrt(gamma*(rho+gamma)*(sigma^2+gamma^2));

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=35;
nu =0.001;
Kp = .001;
Kv =0.003;
%Initial conditions
q10 = -pi/9;
q20 = 0;
p10 = 0;
p20 = 0.047;
stoptime =4;
1
q (rad)

q (rad)

0.5

-0.5

2
t(sec)

p (kg.rad/sec)

0.01

2
t(sec)

2
t(sec)

0.1

p (kg.rad/sec)

0.5

-0.01

2
t(sec)

2
t(sec)

Torque(N.m)

-5

clear all;
close all;
% Hardware parameters
mp = 0.127;

%Mass of pendulum

-0.1

Lp = 0.337; %Total length of pendulum

Jp = 0.0012; %Moment inertia of pendulum
mr = 0.257; %Mass of arm
Lr = 0.216; %Total length of arm
Jr = 9.98*10^(-4); %Moment inertia of arm
%Jr = .002;
g = 9.8;
%Gravitational force
Tm = 1.8;
%Torque maximum
Vm = 15;
%Voltage maximum
% Model parameters
eta = mp*Lp^2/4;
gamma = Jp + mp*Lp^2/4;
rho = Jr + mp*Lr^2+mr*Lr^2/4;
sigma = mp*Lp*Lr/2;
kappa = mp*g*Lp/2;
epsilon = 1.1;
lambda1=kappa*gamma/(gamma*rho+gamma^2-(epsilon*sigma)^2-epsilon^2*gamma^2);
lambda2=(gamma^2+sigma^2)/sqrt(gamma*(rho+gamma)*(sigma^2+gamma^2));

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=35;
nu =0.005;
Kp = .01;
Kv =0.0084;
%Initial conditions
q10 = -pi/9;
q20 = 0.01;
p10 = 0.0002;
p20 = 0.099;
stoptime =1.5;

1
q (rad)

q (rad)

0.5

0.5

0
-0.5

0.5

1.5

0.5

p (kg.rad/sec)

0
-0.02

0.5

1.5

t(sec)

X: 0.07099
0.5
Y: -2.673

1
t(sec)

1.5

1.5

0.2
0
-0.2

0.5
t(sec)

-5

1
t(sec)

0.02

Torque(N.m)

p (kg.rad/sec)

t(sec)

1.5

1
q (rad)

q (rad)

0.5

0.5

0
-0.5

0.5

1.5

0.5

t(sec)

0.5

1.5

-0.2

0.5

5
0

0.5

0.5

1.5

1.5

1.5

t(sec)

1
q (rad)

q (rad)

1.5

-10
-20

1.5

0.5

0.5

0
-0.5

0.5

1.5

0.5

t(sec)

t(sec)

0
-0.02

0.2

p (kg.rad/sec)

0.02

0.5

1.5

-0.2

0.5

t(sec)

t(sec)

10
Hd(Joul)

Torque(N.m)

t(sec)

p (kg.rad/sec)

1.5

t(sec)
Hd(Joul)

Torque(N.m)

t(sec)

-5

1.5

0.2

p (kg.rad/sec)

p (kg.rad/sec)

0.02

-0.02

1
t(sec)

0
-5

0.5

1
t(sec)

1.5

5
0

0.5
t(sec)

clear all;
close all;
% Hardware parameters
mp = 0.127; %Mass of pendulum
Lp = 0.337; %Total length of pendulum
Jp = 0.0012; %Moment inertia of pendulum
mr = 0.257; %Mass of arm
Lr = 0.216; %Total length of arm
Jr = 9.98*10^(-4); %Moment inertia of arm
%Jr = .002;
g = 9.8;
%Gravitational force
Tm = 1.8;
%Torque maximum
Vm = 15;
%Voltage maximum
% Model parameters
eta = mp*Lp^2/4;
gamma = Jp + mp*Lp^2/4;
rho = Jr + mp*Lr^2+mr*Lr^2/4;
sigma = mp*Lp*Lr/2;
kappa = mp*g*Lp/2;
epsilon = 1.1;
lambda1=kappa*gamma/(gamma*rho+gamma^2-(epsilon*sigma)^2-epsilon^2*gamma^2);
lambda2=(gamma^2+sigma^2)/sqrt(gamma*(rho+gamma)*(sigma^2+gamma^2));

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=35;
nu =0.005;
Kp = .01;
Kv =0.0084;
%Initial conditions
q10 = -pi/9;
q20 = 0.01;
p10 = 0.0002;
p20 = 0.099;
stoptime =1.5;

clear all;
close all;
% Hardware parameters
mp = 0.127;

%Mass of pendulum

Lp = 0.337; %Total length of pendulum

Jp = 0.0012; %Moment inertia of pendulum
mr = 0.257; %Mass of arm
Lr = 0.216; %Total length of arm
Jr = 9.98*10^(-4); %Moment inertia of arm
%Jr = .002;
g = 9.8;
%Gravitational force
Tm = 1.8;
%Torque maximum
Vm = 15;
%Voltage maximum
% Model parameters
eta = mp*Lp^2/4;
gamma = Jp + mp*Lp^2/4;
rho = Jr + mp*Lr^2+mr*Lr^2/4;
sigma = mp*Lp*Lr/2;
kappa = mp*g*Lp/2;
epsilon = 1.1;
lambda1=kappa*gamma/(gamma*rho+gamma^2-(epsilon*sigma)^2-epsilon^2*gamma^2);
lambda2=(gamma^2+sigma^2)/sqrt(gamma*(rho+gamma)*(sigma^2+gamma^2));

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=50;
nu =0.005;
Kp = .01;
Kv =0.0078;
%Initial conditions
q10 = -pi/8;
q20 = 0.01;
p10 = 0.0002;
p20 = 0.099;

stoptime =2;

1
q (rad)

q (rad)

0.5

-0.5

0.5

1
t(sec)

1.5

p (kg.rad/sec)

0
-0.02

0.02

0.5

1
t(sec)

1.5

5
0
-5

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.5

1
t(sec)

1.5

0.2
0
-0.2

0
Hd(Joul)

Torque(N.m)

p (kg.rad/sec)

0.5

0.5

1
t(sec)

1.5

-10
-20

clear all;
close all;
% Hardware parameters
mp = 0.127; %Mass of pendulum
Lp = 0.337; %Total length of pendulum
Jp = 0.0012; %Moment inertia of pendulum
mr = 0.257; %Mass of arm
Lr = 0.216; %Total length of arm
Jr = 9.98*10^(-4); %Moment inertia of arm
%Jr = .002;
g = 9.8;
%Gravitational force
Tm = 1.8;
%Torque maximum
Vm = 15;
%Voltage maximum
% Model parameters
eta = mp*Lp^2/4;
gamma = Jp + mp*Lp^2/4;
rho = Jr + mp*Lr^2+mr*Lr^2/4;
sigma = mp*Lp*Lr/2;
kappa = mp*g*Lp/2;
epsilon = 1.1;
lambda1=kappa*gamma/(gamma*rho+gamma^2-(epsilon*sigma)^2-epsilon^2*gamma^2);
lambda2=(gamma^2+sigma^2)/sqrt(gamma*(rho+gamma)*(sigma^2+gamma^2));

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=80;
nu =0.01;
Kp = 0.01;
Kv =0.006;
%Initial conditions
q10 = -pi/6;
q20 = -0.05;
p10 = 0.002;
p20 = 0.096;

1.5

0.5

1
q (rad)

q (rad)

stoptime =3;

0.5

X: 2.334
Y: 0.6517

-0.5

-1

0.5

1.5
t(sec)

2.5

-0.5

0.04

0.5

1.5
t(sec)

2.5

0.5

1.5
t(sec)

2.5

0.5

1.5
t(sec)

2.5

0.3
0.2
p (kg.rad/sec)

0.02
p (kg.rad/sec)

0.1
0

-0.02

0.5

1.5
t(sec)

2.5

-0.2

10

0
Hd(Joul)

Torque(N.m)

-0.04

-0.1

-5

-10

-5

-10

0.5

1.5
t(sec)

2.5

-15

clear all;
close all;
% Hardware parameters
mp = 0.127; %Mass of pendulum
Lp = 0.337; %Total length of pendulum
Jp = 0.0012; %Moment inertia of pendulum
mr = 0.257; %Mass of arm
Lr = 0.216; %Total length of arm
Jr = 9.98*10^(-4); %Moment inertia of arm
%Jr = .002;
g = 9.8;
%Gravitational force
Tm = 1.8;
%Torque maximum
Vm = 15;
%Voltage maximum
% Model parameters
eta = mp*Lp^2/4;
gamma = Jp + mp*Lp^2/4;
rho = Jr + mp*Lr^2+mr*Lr^2/4;
sigma = mp*Lp*Lr/2;
kappa = mp*g*Lp/2;
epsilon = 1.1;
lambda1=kappa*gamma/(gamma*rho+gamma^2-(epsilon*sigma)^2-epsilon^2*gamma^2);
lambda2=(gamma^2+sigma^2)/sqrt(gamma*(rho+gamma)*(sigma^2+gamma^2));

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=110;
nu =0.02;
Kp = 0.009;
Kv =0.0055;
%Initial conditions
q10 = pi/5;
q20 = 0.08;
p10 = -0.0035;
p20 = -0.099;
stoptime =6;

clear all;
close all;
% Hardware parameters
mp = 0.127; %Mass of pendulum
Lp = 0.337; %Total length of pendulum
Jp = 0.0012; %Moment inertia of pendulum

mr = 0.257; %Mass of arm

Lr = 0.216; %Total length of arm
Jr = 9.98*10^(-4); %Moment inertia of arm
%Jr = .002;
g = 9.8;
%Gravitational force
Tm = 1.8;
%Torque maximum
Vm = 15;
%Voltage maximum
% Model parameters
eta = mp*Lp^2/4;
gamma = Jp + mp*Lp^2/4;
rho = Jr + mp*Lr^2+mr*Lr^2/4;
sigma = mp*Lp*Lr/2;
kappa = mp*g*Lp/2;
epsilon = 1.1;
lambda1=kappa*gamma/(gamma*rho+gamma^2-(epsilon*sigma)^2-epsilon^2*gamma^2);
lambda2=(gamma^2+sigma^2)/sqrt(gamma*(rho+gamma)*(sigma^2+gamma^2));

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=110;
nu =0.02;
Kp = 0.009;
Kv =0.0055;
%Initial conditions
q10 = pi/5;
q20 = 0.08;
p10 = -0.0035;
p20 = -0.099;
stoptime =4;

q (rad)

2
t(sec)

p (kg.rad/sec)

0.1

0
-0.1

-2

2
t(sec)

20
0
-20

2
t(sec)

2
t(sec)

2
t(sec)

0.5
0
-0.5

20
Hd(Joul)

p (kg.rad/sec)

-1

Torque(N.m)

X: 3.496
Y: -0.7918

q (rad)

2
t(sec)

0
-20

clear all;
close all;
% Hardware parameters
mp = 0.127; %Mass of pendulum
Lp = 0.337; %Total length of pendulum
Jp = 0.0012; %Moment inertia of pendulum
mr = 0.257; %Mass of arm
Lr = 0.216; %Total length of arm
Jr = 9.98*10^(-4); %Moment inertia of arm
%Jr = .002;
g = 9.8;
%Gravitational force
Tm = 1.8;
%Torque maximum
Vm = 15;
%Voltage maximum
% Model parameters
eta = mp*Lp^2/4;
gamma = Jp + mp*Lp^2/4;
rho = Jr + mp*Lr^2+mr*Lr^2/4;
sigma = mp*Lp*Lr/2;
kappa = mp*g*Lp/2;
epsilon = 1.1;
lambda1=kappa*gamma/(gamma*rho+gamma^2-(epsilon*sigma)^2-epsilon^2*gamma^2);
lambda2=(gamma^2+sigma^2)/sqrt(gamma*(rho+gamma)*(sigma^2+gamma^2));

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=110;
nu =0.004;
Kp = 0.002;
Kv =0.0055;
%Initial conditions
q10 = pi/4.3;
q20 = -0.8;
p10 = -0.008;
p20 = -0.1;
stoptime =4;
1

1
0

q (rad)

q (rad)

0.5

-1

-0.5

-3

0.5

1.5

2
t(sec)

2.5

3.5

-4

0.15

0.4

0.1

0.2
p (kg.rad/sec)

p (kg.rad/sec)

-1

-2

0.5

1.5

2
t(sec)

2.5

3.5

0.5

1.5

2
t(sec)

2.5

3.5

0.5

1.5

2
t(sec)

2.5

3.5

0.05

0.5

1.5

2
t(sec)

2.5

3.5

-0.4

15

40

10

30

20
Hd(Joul)

Torque(N.m)

-0.05

-0.2

10

-5

-10

-10

-15

0.5

1.5

2
t(sec)

2.5

3.5

clear all;
close all;
% Hardware parameters
mp = 0.127; %Mass of pendulum
Lp = 0.337; %Total length of pendulum
Jp = 0.0012; %Moment inertia of pendulum

-20

mr = 0.257; %Mass of arm

Lr = 0.216; %Total length of arm
Jr = 9.98*10^(-4); %Moment inertia of arm
%Jr = .002;
g = 9.8;
%Gravitational force
Tm = 1.8;
%Torque maximum
Vm = 15;
%Voltage maximum
% Model parameters
eta = mp*Lp^2/4;
gamma = Jp + mp*Lp^2/4;
rho = Jr + mp*Lr^2+mr*Lr^2/4;
sigma = mp*Lp*Lr/2;
kappa = mp*g*Lp/2;
epsilon = 1.1;
lambda1=kappa*gamma/(gamma*rho+gamma^2-(epsilon*sigma)^2-epsilon^2*gamma^2);
lambda2=(gamma^2+sigma^2)/sqrt(gamma*(rho+gamma)*(sigma^2+gamma^2));

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=110;
nu =0.004;
Kp = 0.002;
Kv =0.0055;
%Initial conditions
q10 = pi/4.3;
q20 = -0.8;
p10 = -0.0075;
p20 = -0.1;
stoptime =10;

clear all;
close all;
% Hardware parameters
mp = 0.127; %Mass of pendulum
Lp = 0.337; %Total length of pendulum
Jp = 0.0012; %Moment inertia of pendulum
mr = 0.257; %Mass of arm
Lr = 0.216; %Total length of arm
Jr = 9.98*10^(-4); %Moment inertia of arm
%Jr = .002;
g = 9.8;
%Gravitational force
Tm = 1.8;
%Torque maximum
Vm = 15;
%Voltage maximum

% Model parameters
eta = mp*Lp^2/4;
gamma = Jp + mp*Lp^2/4;
rho = Jr + mp*Lr^2+mr*Lr^2/4;
sigma = mp*Lp*Lr/2;
kappa = mp*g*Lp/2;
epsilon = 1.1;
lambda1=kappa*gamma/(gamma*rho+gamma^2-(epsilon*sigma)^2-epsilon^2*gamma^2);
lambda2=(gamma^2+sigma^2)/sqrt(gamma*(rho+gamma)*(sigma^2+gamma^2));

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=105;
nu =0.004;
Kp = 0.002;
Kv =0.0053;
%Initial conditions
q10 = pi/4.3;
q20 = -0.99;
p10 = -0.0075;
p20 = -0.1;
stoptime =4;

-0.5
-1

0.5
q (rad)

q (rad)

-1.5
-2

-2.5
-0.5
-3
0

0.5

1.5

2
t(sec)

2.5

3.5

-3.5

0.15

0.4

0.1

0.2
p (kg.rad/sec)

p (kg.rad/sec)

-1

0.5

1.5

2
t(sec)

2.5

3.5

0.5

1.5

2
t(sec)

2.5

3.5

0.5

1.5

2
t(sec)

2.5

3.5

0.05

-0.05

-0.2

0.5

1.5

2
t(sec)

2.5

3.5

-0.4

10

40
30
20
Hd(Joul)

Torque(N.m)

10
0

-5
-10
-10

0.5

1.5

2
t(sec)

2.5

3.5

-20

clear all;
close all;
% Hardware parameters
mp = 0.127; %Mass of pendulum
Lp = 0.337; %Total length of pendulum
Jp = 0.0012; %Moment inertia of pendulum
mr = 0.257; %Mass of arm
Lr = 0.216; %Total length of arm
Jr = 9.98*10^(-4); %Moment inertia of arm
%Jr = .002;
g = 9.8;
%Gravitational force
Tm = 1.8;
%Torque maximum
Vm = 15;
%Voltage maximum
% Model parameters
eta = mp*Lp^2/4;
gamma = Jp + mp*Lp^2/4;
rho = Jr + mp*Lr^2+mr*Lr^2/4;
sigma = mp*Lp*Lr/2;
kappa = mp*g*Lp/2;
epsilon = 1.1;
lambda1=kappa*gamma/(gamma*rho+gamma^2-(epsilon*sigma)^2-epsilon^2*gamma^2);
lambda2=(gamma^2+sigma^2)/sqrt(gamma*(rho+gamma)*(sigma^2+gamma^2));

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=113;
nu =0.004;
Kp = 0.002;
Kv =0.0053;
%Initial conditions
q10 = pi/4.2;
q20 = -0.99;
p10 = -0.0073;
p20 = -0.1;
stoptime =5;
1

-0.5
-1

0.5
q (rad)

q (rad)

-1.5
-2

-2.5
-0.5
-3
0

0.5

1.5

2.5
t(sec)

3.5

4.5

-3.5

0.15

0.4

0.1

0.2
p (kg.rad/sec)

p (kg.rad/sec)

-1

0.5

1.5

2.5
t(sec)

3.5

4.5

0.5

1.5

2.5
t(sec)

3.5

4.5

0.5

1.5

2.5
t(sec)

3.5

4.5

0.05

0.5

1.5

2.5
t(sec)

3.5

4.5

-0.4

15

40

10

30

20
Hd(Joul)

Torque(N.m)

-0.05

-0.2

10

-5

-10

-10

-15

0.5

1.5

2.5
t(sec)

3.5

4.5

clear all;
close all;
% Hardware parameters
mp = 0.127;
Lp = 0.337;

%Mass of pendulum
%Total length of pendulum

-20

Jp = 0.0012; %Moment inertia of pendulum

mr = 0.257; %Mass of arm
Lr = 0.216; %Total length of arm
Jr = 9.98*10^(-4); %Moment inertia of arm
%Jr = .002;
g = 9.8;
%Gravitational force
Tm = 1.8;
%Torque maximum
Vm = 15;
%Voltage maximum
% Model parameters
eta = mp*Lp^2/4;
gamma = Jp + mp*Lp^2/4;
rho = Jr + mp*Lr^2+mr*Lr^2/4;
sigma = mp*Lp*Lr/2;
kappa = mp*g*Lp/2;
epsilon = 1.1;
lambda1=kappa*gamma/(gamma*rho+gamma^2-(epsilon*sigma)^2-epsilon^2*gamma^2);
lambda2=(gamma^2+sigma^2)/sqrt(gamma*(rho+gamma)*(sigma^2+gamma^2));

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=115;
nu =0.002;
Kp = 0.002;
Kv =0.0050;
%Initial conditions
q10 = pi/4.12;
q20 = -0.99;
p10 = -0.0074;
p20 = -0.1;
stoptime =6;
clear all;
close all;
% Hardware parameters
mp = 0.127; %Mass of pendulum
Lp = 0.337; %Total length of pendulum
Jp = 0.0012; %Moment inertia of pendulum
mr = 0.257; %Mass of arm
Lr = 0.216; %Total length of arm
Jr = 9.98*10^(-4); %Moment inertia of arm
%Jr = .002;
g = 9.8;
%Gravitational force
Tm = 1.8;
%Torque maximum
Vm = 15;
%Voltage maximum
% Model parameters

eta = mp*Lp^2/4;
gamma = Jp + mp*Lp^2/4;
rho = Jr + mp*Lr^2+mr*Lr^2/4;
sigma = mp*Lp*Lr/2;
kappa = mp*g*Lp/2;
epsilon = 1.1;
lambda1=kappa*gamma/(gamma*rho+gamma^2-(epsilon*sigma)^2-epsilon^2*gamma^2);
lambda2=(gamma^2+sigma^2)/sqrt(gamma*(rho+gamma)*(sigma^2+gamma^2));

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=111;
nu =0.01;
Kp = 0.005;
Kv =0.0043;
%Initial conditions
q10 = pi/4.11;
q20 = -0.99;
p10 = -0.0074;
p20 = -0.1;
stoptime =5;

0
-1

q (rad)

q (rad)

0.5

X: 4.734
Y: -2.534

-2

-0.5

-4

0.5

1.5

2.5
t(sec)

3.5

4.5

-5

0.1

0.4

0.05

0.2
p (kg.rad/sec)

p (kg.rad/sec)

-1

-3

0.5

1.5

2.5
t(sec)

3.5

4.5

0.5

1.5

2.5
t(sec)

3.5

4.5

0.5

1.5

2.5
t(sec)

3.5

4.5

-0.05

-0.1

-0.2

0.5

1.5

2.5
t(sec)

3.5

4.5

-0.4

15

60

10

Hd(Joul)

Torque(N.m)

40
5
0

20

-5
0
-10
-15

0.5

1.5

2.5
t(sec)

3.5

4.5

-20

0.5

-1
q (rad)

q (rad)

-2

-0.5

3
t(sec)

-4

0.1

0.4

0.05

0.2
p (kg.rad/sec)

p (kg.rad/sec)

-1

-3

3
t(sec)

3
t(sec)

3
t(sec)

-0.05

-0.1

-0.2

3
t(sec)

-0.4

15

60

10

Hd(Joul)

Torque(N.m)

40
5
0

20

-5
0
-10
-15

3
t(sec)

-20

clear all;
close all;
% Hardware parameters
mp = 0.127; %Mass of pendulum
Lp = 0.337; %Total length of pendulum
Jp = 0.0012; %Moment inertia of pendulum
mr = 0.257; %Mass of arm
Lr = 0.216; %Total length of arm
Jr = 9.98*10^(-4); %Moment inertia of arm
%Jr = .002;
g = 9.8;
%Gravitational force
Tm = 1.8;
%Torque maximum
Vm = 15;
%Voltage maximum
% Model parameters
eta = mp*Lp^2/4;
gamma = Jp + mp*Lp^2/4;
rho = Jr + mp*Lr^2+mr*Lr^2/4;
sigma = mp*Lp*Lr/2;
kappa = mp*g*Lp/2;
epsilon = 1.1;
lambda1=kappa*gamma/(gamma*rho+gamma^2-(epsilon*sigma)^2-epsilon^2*gamma^2);
lambda2=(gamma^2+sigma^2)/sqrt(gamma*(rho+gamma)*(sigma^2+gamma^2));

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=158;
nu =0.009;
Kp = 0.002;
Kv =0.006;
%Initial conditions
q10 = pi/4.11;
q20 = 0.09;
p10 = -0.0074;
p20 = -0.009;
stoptime =6;
1

1
0

q (rad)

q (rad)

0.5

-1

-0.5

-3

3
t(sec)

-4

0.1

0.4

0.05

0.2
p (kg.rad/sec)

p (kg.rad/sec)

-1

-2

3
t(sec)

3
t(sec)

3
t(sec)

-0.05

-0.1

-0.2

3
t(sec)

-0.4

15

60

10

Hd(Joul)

Torque(N.m)

40
5
0

20

-5
0
-10
-15

3
t(sec)

clear all;
close all;
% Hardware parameters
mp = 0.127;
Lp = 0.337;

%Mass of pendulum
%Total length of pendulum

-20

Jp = 0.0012; %Moment inertia of pendulum

mr = 0.257; %Mass of arm
Lr = 0.216; %Total length of arm
Jr = 9.98*10^(-4); %Moment inertia of arm
%Jr = .002;
g = 9.8;
%Gravitational force
Tm = 1.8;
%Torque maximum
Vm = 15;
%Voltage maximum
% Model parameters
eta = mp*Lp^2/4;
gamma = Jp + mp*Lp^2/4;
rho = Jr + mp*Lr^2+mr*Lr^2/4;
sigma = mp*Lp*Lr/2;
kappa = mp*g*Lp/2;
epsilon = 1.1;
lambda1=kappa*gamma/(gamma*rho+gamma^2-(epsilon*sigma)^2-epsilon^2*gamma^2);
lambda2=(gamma^2+sigma^2)/sqrt(gamma*(rho+gamma)*(sigma^2+gamma^2));

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=156;
nu =0.008;
Kp = 0.001;
Kv =0.0062;
%Initial conditions
q10 = pi/4.1;
q20 = 0.09;
p10 = -0.0074;
p20 = -0.001;
stoptime =4;

q (rad)

2
t(sec)

p (kg.rad/sec)

0.1

0
-0.1

-5

2
t(sec)

20
0
-20

2
t(sec)

2
t(sec)

2
t(sec)

0.5
0
-0.5

50

Hd(Joul)

p (kg.rad/sec)

-1

Torque(N.m)

q (rad)

2
t(sec)

0
-50

clear all;
close all;
% Hardware parameters
mp = 0.127; %Mass of pendulum
Lp = 0.337; %Total length of pendulum
Jp = 0.0012; %Moment inertia of pendulum
mr = 0.257; %Mass of arm
Lr = 0.216; %Total length of arm
Jr = 9.98*10^(-4); %Moment inertia of arm
%Jr = .002;
g = 9.8;
%Gravitational force
Tm = 1.8;
%Torque maximum
Vm = 15;
%Voltage maximum
% Model parameters
eta = mp*Lp^2/4;
gamma = Jp + mp*Lp^2/4;
rho = Jr + mp*Lr^2+mr*Lr^2/4;
sigma = mp*Lp*Lr/2;
kappa = mp*g*Lp/2;
epsilon = 1.1;
lambda1=kappa*gamma/(gamma*rho+gamma^2-(epsilon*sigma)^2-epsilon^2*gamma^2);
lambda2=(gamma^2+sigma^2)/sqrt(gamma*(rho+gamma)*(sigma^2+gamma^2));

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=151;
nu =0.005;
Kp = 0.001;
Kv =0.0060;
%Initial conditions
q10 = pi/4.08;
q20 = 0.09;
p10 = -0.0074;
p20 = -0.005;
stoptime =4;

q (rad)

2
t(sec)

p (kg.rad/sec)

0.1

0
-0.1

-5

2
t(sec)

20
0
-20

2
t(sec)

2
t(sec)

2
t(sec)

0
-0.5

2
t(sec)

0
-50

% Hardware parameters
=
=
=
=
=

0.5

clear all;
close all;

mp
Lp
Jp
mr
Lr

50

Hd(Joul)

p (kg.rad/sec)

-1

Torque(N.m)

q (rad)

0.127;
0.337;
0.0012;
0.257;
0.216;

%Mass of pendulum
%Total length of pendulum
%Moment inertia of pendulum
%Mass of arm
%Total length of arm

Jr = 9.98*10^(-4); %Moment inertia of arm

%Jr = .002;
g = 9.8;
%Gravitational force
Tm = 1.8;
%Torque maximum
Vm = 15;
%Voltage maximum
% Model parameters
eta = mp*Lp^2/4;
gamma = Jp + mp*Lp^2/4;
rho = Jr + mp*Lr^2+mr*Lr^2/4;
sigma = mp*Lp*Lr/2;
kappa = mp*g*Lp/2;
epsilon = 1.1;
lambda1=kappa*gamma/(gamma*rho+gamma^2-(epsilon*sigma)^2-epsilon^2*gamma^2);
lambda2=(gamma^2+sigma^2)/sqrt(gamma*(rho+gamma)*(sigma^2+gamma^2));

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=151;
nu =0.005;
Kp = 0.0009;
Kv =0.0060;
%Initial conditions
q10 = pi/4.08;
q20 = 0.09;
p10 = -0.0074;
p20 = -0.001;
stoptime =5;

0.5

0
q (rad)

q (rad)

-1

X: 4.576
Y: -1.655

-0.5

0.5

1.5

2.5
t(sec)

3.5

4.5

-3

0.1

0.4

0.05

0.2
p (kg.rad/sec)

p (kg.rad/sec)

-1

-2

0.5

1.5

2.5
t(sec)

3.5

4.5

0.5

1.5

2.5
t(sec)

3.5

4.5

0.5

1.5

2.5
t(sec)

3.5

4.5

-0.05

-0.1

-0.2

0.5

1.5

2.5
t(sec)

3.5

4.5

-0.4

15

60

10

Hd(Joul)

Torque(N.m)

40
5
0

20

-5
0
-10
-15

0.5

1.5

2.5
t(sec)

3.5

4.5

-20

clear all;
close all;
% Hardware parameters
mp = 0.127; %Mass of pendulum
Lp = 0.337; %Total length of pendulum
Jp = 0.0012; %Moment inertia of pendulum
mr = 0.257; %Mass of arm
Lr = 0.216; %Total length of arm
Jr = 9.98*10^(-4); %Moment inertia of arm
%Jr = .002;
g = 9.8;
%Gravitational force
Tm = 1.8;
%Torque maximum
Vm = 15;
%Voltage maximum
% Model parameters
eta = mp*Lp^2/4;
gamma = Jp + mp*Lp^2/4;
rho = Jr + mp*Lr^2+mr*Lr^2/4;
sigma = mp*Lp*Lr/2;
kappa = mp*g*Lp/2;
epsilon = 1.1;
lambda1=kappa*gamma/(gamma*rho+gamma^2-(epsilon*sigma)^2-epsilon^2*gamma^2);
lambda2=(gamma^2+sigma^2)/sqrt(gamma*(rho+gamma)*(sigma^2+gamma^2));

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=145;
nu =0.0009;
Kp = 0.001;
Kv =0.0054;
%Initial conditions
q10 = pi/4.05;
q20 = 0.09;
p10 = -0.0074;
p20 = -0.001;

0.5

0
q (rad)

q (rad)

stoptime =5;

-1

-0.5

0.5

1.5

2.5
t(sec)

3.5

4.5

-3

0.1

0.4

0.05

0.2
p (kg.rad/sec)

p (kg.rad/sec)

-1

-2

0.5

1.5

2.5
t(sec)

3.5

4.5

0.5

1.5

2.5
t(sec)

3.5

4.5

0.5

1.5

2.5
t(sec)

3.5

4.5

-0.05

-0.1

-0.2

0.5

1.5

2.5
t(sec)

3.5

4.5

-0.4

15

60

10

Hd(Joul)

Torque(N.m)

40
5
0

20

-5
0
-10
-15

0.5

1.5

2.5
t(sec)

3.5

4.5

clear all;
close all;
% Hardware parameters
mp = 0.127;
Lp = 0.337;

%Mass of pendulum
%Total length of pendulum

-20

Jp = 0.0012; %Moment inertia of pendulum

mr = 0.257; %Mass of arm
Lr = 0.216; %Total length of arm
Jr = 9.98*10^(-4); %Moment inertia of arm
%Jr = .002;
g = 9.8;
%Gravitational force
Tm = 1.8;
%Torque maximum
Vm = 15;
%Voltage maximum
% Model parameters
eta = mp*Lp^2/4;
gamma = Jp + mp*Lp^2/4;
rho = Jr + mp*Lr^2+mr*Lr^2/4;
sigma = mp*Lp*Lr/2;
kappa = mp*g*Lp/2;
epsilon = 1.1;
lambda1=kappa*gamma/(gamma*rho+gamma^2-(epsilon*sigma)^2-epsilon^2*gamma^2);
lambda2=(gamma^2+sigma^2)/sqrt(gamma*(rho+gamma)*(sigma^2+gamma^2));

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=142;
nu =0.0009;
Kp = 0.002;
Kv =0.0049;
%Initial conditions
q10 = pi/4.04;
q20 = 0.1;
p10 = -0.0074;
p20 = -0.009;
stoptime =5;

1
0

q (rad)

q (rad)

0.5

-1

-0.5

-3

0.5

1.5

2.5
t(sec)

3.5

4.5

-4

0.1

0.4

0.05

0.2
p (kg.rad/sec)

p (kg.rad/sec)

-1

-2

0.5

1.5

2.5
t(sec)

3.5

4.5

0.5

1.5

2.5
t(sec)

3.5

4.5

0.5

1.5

2.5
t(sec)

3.5

4.5

-0.05

-0.1

-0.2

0.5

1.5

2.5
t(sec)

3.5

4.5

-0.4

15

60

10

Hd(Joul)

Torque(N.m)

40
5
0

20

-5
0
-10
-15

0.5

1.5

2.5
t(sec)

3.5

4.5

-20

clear all;
close all;
% Hardware parameters
mp = 0.127; %Mass of pendulum
Lp = 0.337; %Total length of pendulum
Jp = 0.0012; %Moment inertia of pendulum
mr = 0.257; %Mass of arm
Lr = 0.216; %Total length of arm
Jr = 9.98*10^(-4); %Moment inertia of arm
%Jr = .002;
g = 9.8;
%Gravitational force
Tm = 1.8;
%Torque maximum
Vm = 15;
%Voltage maximum
% Model parameters
eta = mp*Lp^2/4;
gamma = Jp + mp*Lp^2/4;
rho = Jr + mp*Lr^2+mr*Lr^2/4;
sigma = mp*Lp*Lr/2;
kappa = mp*g*Lp/2;
epsilon = 1.1;
lambda1=kappa*gamma/(gamma*rho+gamma^2-(epsilon*sigma)^2-epsilon^2*gamma^2);
lambda2=(gamma^2+sigma^2)/sqrt(gamma*(rho+gamma)*(sigma^2+gamma^2));

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=140;
nu =0.0006;
Kp = 0.001;
Kv =0.0046;
%Initial conditions
q10 = pi/4.03;
q20 = 0.1;
p10 = -0.0074;
p20 = -0.009;
stoptime =5;

1
0

q (rad)

q (rad)

0.5

-1

-0.5

-3

0.5

1.5

2.5
t(sec)

3.5

4.5

-4

0.1

0.4

0.05

0.2
p (kg.rad/sec)

p (kg.rad/sec)

-1

-2

0.5

1.5

2.5
t(sec)

3.5

4.5

0.5

1.5

2.5
t(sec)

3.5

4.5

0.5

1.5

2.5
t(sec)

3.5

4.5

-0.05

-0.1

-0.2

0.5

1.5

2.5
t(sec)

3.5

4.5

-0.4

15

60

10

Hd(Joul)

Torque(N.m)

40
5
0

20

-5
0
-10
-15

0.5

1.5

2.5
t(sec)

3.5

4.5

-20

clear all;
close all;
% Hardware parameters
mp = 0.127; %Mass of pendulum
Lp = 0.337; %Total length of pendulum
Jp = 0.0012; %Moment inertia of pendulum
mr = 0.257; %Mass of arm
Lr = 0.216; %Total length of arm
Jr = 9.98*10^(-4); %Moment inertia of arm
%Jr = .002;
g = 9.8;
%Gravitational force
Tm = 1.8;
%Torque maximum
Vm = 15;
%Voltage maximum
% Model parameters
eta = mp*Lp^2/4;
gamma = Jp + mp*Lp^2/4;
rho = Jr + mp*Lr^2+mr*Lr^2/4;
sigma = mp*Lp*Lr/2;
kappa = mp*g*Lp/2;
epsilon = 1.1;
lambda1=kappa*gamma/(gamma*rho+gamma^2-(epsilon*sigma)^2-epsilon^2*gamma^2);
lambda2=(gamma^2+sigma^2)/sqrt(gamma*(rho+gamma)*(sigma^2+gamma^2));

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=137;
nu =0.0005;
Kp = 0.001;
Kv =0.0047;
%Initial conditions
q10 = pi/4.02;
q20 = 0.1;
p10 = -0.0074;
p20 = -0.009;
stoptime =5;

q (rad)

5
0

q (rad)

-1

-5

0.1

0
-0.1

0
-0.5

2
t(sec)

20

50

Hd(Joul)

Torque(N.m)

0.5

t(sec)

0
-20

4
t(sec)

p (kg.rad/sec)

p (kg.rad/sec)

t(sec)

4
t(sec)

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=134;
nu =0.0005;
Kp = 0.001;
Kv =0.0046;
%Initial conditions
q10 = pi/4.01;
q20 = 0.1;
p10 = -0.0074;
p20 = -0.009;
stoptime =5;

0
-50

2
t(sec)

0.5

0
q (rad)

q (rad)

-1

-0.5

0.5

1.5

2.5
t(sec)

3.5

4.5

-3

0.1

0.4

0.05

0.2
p (kg.rad/sec)

p (kg.rad/sec)

-1

-2

0.5

1.5

2.5
t(sec)

3.5

4.5

0.5

1.5

2.5
t(sec)

3.5

4.5

0.5

1.5

2.5
t(sec)

3.5

4.5

-0.05

-0.1

-0.2

0.5

1.5

2.5
t(sec)

3.5

4.5

-0.4

15

60

10

Hd(Joul)

Torque(N.m)

40
5
0

20

-5
0
-10
-15

0.5

1.5

2.5
t(sec)

%Controller parameters
m30 = 2*sigma^2/gamma^2;
mplus = 2.1;
%m3 = m30*mplus;
m3=132;
nu =0.0005;
Kp = 0.001;
Kv =0.0044;
%Initial conditions
q10 = pi/4.0;
q20 = 0.1;
p10 = -0.0074;
p20 = -0.007;
stoptime =5;

3.5

4.5

-20

1
0

q (rad)

q (rad)

0.5

-1

-0.5

-3

0.5

1.5

2.5
t(sec)

3.5

4.5

-4

0.1

0.4

0.05

0.2
p (kg.rad/sec)

p (kg.rad/sec)

-1

-2

0.5

1.5

2.5
t(sec)

3.5

4.5

0.5

1.5

2.5
t(sec)

3.5

4.5

0.5

1.5

2.5
t(sec)

3.5

4.5

-0.05

-0.1

-0.2

0.5

1.5

2.5
t(sec)

3.5

4.5

-0.4

15

60

10

Hd(Joul)

Torque(N.m)

40
5
0

20

-5
0
-10
-15

0.5

1.5

2.5
t(sec)

3.5

4.5

-20