Multivariable analysis and control of a cart-pendulum-seesaw system using an animation tool

Describes a software environment for simulating, visualizing, and evaluating robust multivariable controller performance for a cart-pendulum-seesaw system. Different simulation and animation models may be selected by the user. Users are also able to alter model and controller parameters on the “fly” thus allowing them to quickly examine different scenarios. Microsoft Direct3D three dimensional graphics are used for animation. Graphical indicators and real-time plotting are also employed to help users abstract-out key phenomena. The environment also accommodates data exchange with MATLAB. The interactive MoSART Cart-Pendulum-Seesaw (CPS) Environment is shown to be a valuable tool for enhancing both research and education. Examples are presented to illustrate its utility