Rotary Inverted Pendulum SDRE Control

These codes provide simulation and experiments of SDRE + SMC of a rotary inverted pendulum.

Dynamics of rotary inverted pendulum: Section_2_Dynamics_RIP.m

MATLAB script code of RIP control: Run_RIP_Control_SDRE_Voltage_Control.m

SIMULINK control of RIP: first run RIP_Control_Simulink_3_SDRESMC_ZOH.mdl then run P_RIP.m

For experiment codes, you need the platform and Arduino code and setup connection (each one is one type of control, a single script is enough for experimental implementation): v3_for_loop_PD.m, v4_for_loop_SDRE.m, v5_for_loop_SDRESMC.m, v6_for_loop_SDREISMC.m, v7_for_loop_SDRE_SwingingUp.m