| | | Inverted pendulum |
We consider an inverted pendulum inv_pendulum.lts together with its PID controller. The variables are "pos": position of the mobile, "speed": its speed, "ang": angle of the pendulum (in degrees), and "angDer": angular speed (in degrees per sec). The initial condition is "-1 <= ang <= 1" and "pos=speed=angDer=0".
The analysis shows that the controller ensures the stability of the system and delivers lower and upper bounds on the different quantities (internally it uses convex polyhedra to relate them).
|
l | #e | running time | file |
| 0 | 4 | inv_pendulum_l0.ps | |
| 1 | 16 | inv_pendulum_l1.ps | |
| 2 | 40 | inv_pendulum_l2.ps | |
| 3 | 88 | inv_pendulum_l3.ps | |
| 4 | 188 | inv_pendulum_l4.ps | |
| | | Inverted pendulum |