input.dat

inverted pendulum pid controller matlab files used to know the controller description

with main; version=30 ;
  type=mbs; eqtype = nonlinear;  autogravity=true;  eqn_ok=true; generation = direct; language=pascal; size=1; scene=3; 
  bkgcolor=15723509; gridcolor=16711680; axessaturation= 1.E2; 
  gridstep= 5.E-1; axelengthx= 3.; axelengthy= 3.; axelengthz= 3.; 
  a={0.90475166321995 0.150047498477722 -0.398635392434335 0 0.935896823677913 0.352274233275086 0.425939465065989 -0.318720698465163 0.846754207824865};
  target={-0.08 -0.16 -8.118726026908};
  distance=10;
with const;
  cnst=(mass_cart, 0.5);
  cnst=(l, 0.3);
  cnst=(mass_pend, 0.2);
  cnst=(ix, 0.006);
  cnst=(b, 0.1);
  cnst=(force, 0);
  cnst=(a, 0.1);
  cnst=(omega, 10);

  with egravity; gravityz=-1.0; 
with images;
  OBJECT;
    name="Cart";
   BAR;
    VisibleSide=vsFront;  material=255,244,0,0,10,1;
    shift=,,-0.125;
    width=1;
    discret=1;  box=0.3,0.6,0.25;
   CYLINDER;
    VisibleSide=vsFront;  material=7960953,2368548,0,0,127,1;
    rotationy=   90.0000;
    shift2=0.18,0.22,0.1;
    width=1;
    h=0.02; r1=0.06; r2=0.06;
    npc=25; npl=2;
   CYLINDER;
    VisibleSide=vsFront;  material=7960953,2368548,0,0,127,1;
    rotationy=   90.0000;
    shift2=0.18,-0.22,0.1;
    width=1;
    h=0.02; r1=0.06; r2=0.06;
    npc=25; npl=2;
   CYLINDER;
    VisibleSide=vsFront;  material=7960953,2368548,0,0,127,1;
    rotationy=   90.0000;
    shift2=0.18,-0.22,-0.1;
    width=1;
    h=0.02; r1=0.06; r2=0.06;
    npc=25; npl=2;
   CYLINDER;
    VisibleSide=vsFront;  material=7960953,2368548,0,0,127,1;
    rotationy=   90.0000;
    shift2=0.18,0.22,-0.1;
    width=1;
    h=0.02; r1=0.06; r2=0.06;
    npc=25; npl=2;
  OBJECT;
    name="Pendulum";
    goshift1=,,-l;
   CYLINDER;
    VisibleSide=vsFront;  material=10485760,7405568,0,0,10,1;
    width=1;
    h=2*l; r1=0.02; r2=0.02;
    npc=15; npl=2;
   CYLINDER;
    VisibleSide=vsFront;  material=14540253,16777215,0,0,10,1;
    shift=-0.025,,;
    rotationy=   90.0000;
    width=1;
    h=0.05; r1=0.02; r2=0.02;
    npc=15; npl=2;
  OBJECT;
    name="Surface";
   BAR;
    VisibleSide=vsFront;  material=79,62,0,0,10,1;
    shift=,,-0.245;
    width=1;
    discret=1;  box=0.5,2,0.005;
end;
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