DASL Wiki

PROGRAMMING

The balance method on this report will be a full state feedback , calculating the gains using LQR. Both programs were done following the same algorithm.The programs used were Simulink and Bricx Command Center (NQC Language).

Pseudo Algorithm:

1. get the position value from encoder.
2. calculate velocity.
3. get the state matrix [u] with Pendulum pos. and vel. and Motor pos. and vel.
4. calculate motor input as [K]*[u]. Where [K] is the optimal gain matrix from LQR.
5. send input to motor
6. repeat

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TUTORIALS:

• Simulink Programming
• Bricx Command Center Programming (NQC)