last.icf

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

icf
$ Configuration of object inv_pend
with integr;
  tout    =  1.000E+0000;
  lastparfile    = "";
  step    =  2.000E-0004;
  h       =  5.000E-0004;
  error   =  1.000E-0007;
  method  = park;
with solvers;
  bdfminstep=1E-10;
  bdfmaxorder=5;
  abmminstep=1E-10;
  abmmaxorder=11;
  parkpredict=medium;
  parkminstep=1E-12;
  parkmaxiter=2;
  parkminiter=2;
  parkstartdiscr=2;
  itermult=1;
with graphwindow; 
  left=5; top=271; 
  width=482; height=340; 
  minx= 3.99999988687227E-0009; 
  maxx= 1.12721875309944E-0001; 
  miny=-6.34935404968262E+0003; 
  maxy= 6.76961410522461E+0002; 
  filtertype=0; 
  passtype=0; 
  filterorder=12; 
  lowfreq= 0.00000000000000E+0000; 
  highfreq= 1.00000000000000E-0001; 
  graphcaption="Control force"; 
  align=3; dpsize=121; 
  abscissa=0;
  addlines=true;  showscales=true;
  autostepx=true;  manualstepx= 1.00000000000000E-0001;
  autostepy=true;  manualstepy= 1.00000000000000E-0001;
  autoscalex=true;  manualscalex=0;
  autoscaley=true;  manualscaley=0;
  backcolor=16777215;  fontcolor=16711680;  fontsize=12;
  gridstylesolid=false;
  ofsleft=30;
  ofstop=15;
  ofsright=15;
  ofsbottom=15;
  graphswidth=1;
  selectedwidth=2;
      with grwindowvar;
      color=000000;
      marker=0;
      markedline=0;
      with grvar;
        name=Fy(Conrtol force);
        comment="Active force, Y projection";
        elementname=Conrtol force;
        subs=1; ielem=1;
        type=afrc; actson=2; loctype=0;bdref=0; subref=1; component=y; 

with graphwindow; 
  left=490; top=271; 
  width=484; height=339; 
  minx= 3.99999988687227E-0009; 
  maxx= 1.12721875309944E-0001; 
  miny=-1.72495267237537E-0002; 
  maxy= 3.15107132808771E-0001; 
  filtertype=0; 
  passtype=0; 
  filterorder=12; 
  lowfreq= 0.00000000000000E+0000; 
  highfreq= 1.00000000000000E-0001; 
  graphcaption="Angle of pendulum"; 
  align=3; dpsize=121; 
  abscissa=0;
  addlines=true;  showscales=true;
  autostepx=true;  manualstepx= 1.00000000000000E-0001;
  autostepy=true;  manualstepy= 1.00000000000000E-0001;
  autoscalex=true;  manualscalex=0;
  autoscaley=true;  manualscaley=0;
  backcolor=16777215;  fontcolor=16711680;  fontsize=12;
  gridstylesolid=false;
  ofsleft=30;
  ofstop=15;
  ofsright=15;
  ofsbottom=15;
  graphswidth=1;
  selectedwidth=2;
      with grwindowvar;
      color=000000;
      marker=0;
      markedline=0;
      with grvar;
        name=ang:x(Pendulum);
        comment="Angle of rotation of the Pendulum body relative to Base0, X projection";
        elementname=Pendulum;
        subs=1; ielem=2;
        type=relang;
          loctype=r_ang; loctypeadv=1 ;bd2=0; isubs2=1; bdref=0; subref=1; component=x; 

with animwindow;
  left=6; top=5; 
  width=482; height=263; 
  camerabody=0;  camerasubs=0;  gridtype=1;  bgcolor=16777215;
  scalev=1;   scalea=10;   scaleang=0.1; 
  scaleom=1;   scalee=10;   scalef=5;   scalem=1.75; 
  arrowl=0.2;   arrowr=0.05;   vectorr=0.025; 
  a11=  0.9759; a12=  0.0239; a13= -0.2170; 
  a21=  0.0000; a22=  0.9939; a23=  0.1098; 
  a31=  0.2182; a32= -0.1071; a33=  0.9700; 
  tpx=-1.20000000000000E-0001; tpy= 2.20000000000000E-0001; tpz=-7.52742218737027E+0000; 
  align=3; dpsize=76; 
  vectorsvisible=true;
      with grwindowvar;
      color=000000;
      maxtrgpointcount=100;
      with grvar;
        name=Fv(Conrtol force);
        comment="Active force (Conrtol force), vector";
        elementname=Conrtol force;
        subs=1; ielem=1;
        type=afrc; actson=2; loctype=0;bdref=0; subref=1; component=vector; 

with end;