Modeling and Simulation of a Flexible Inverted Pendulum System

This paper presents a dynamic model of a planar flexible inverted pendulum system under the frame of multi-body dynamics by floating frame of reference formulation (FFRF). By proper simplification and linearization, the state space equation of the system was established for linear analysis and control design. The simulation method for such a coupled system by multi-body dynamics program was also provided. The designed controller with a simple low-pass filter for the flexible inverted pendulum was validated by the simulation of a simple flexible pendulum sample. The result demonstrates a new method of designing and verifying a feedback controller of a flexible multi-body system.