## Modelica_LinearSystems2.Controller.Examples.Components

Contains components of the systems used in Examples package

### Package Content

Name | Description
--- | ---
DoublePendulum2 | crane trolley system
DoublePendulum | crane trolley system
SeriesConnection | Series connection of two PT1 blocks
InverseDoublePendulum2 | inverted double pendulum
InverseDoublePendulum | inverse double pendulum
InverseDoublePendulum3 | Inverted double pendulum
AccelerationLimiter | output follows input with limited acceleration and optionally limited velocity
MixingUnit | Mixing unit demo from Foellinger, Nichtlineare Regelungen II, p. 280
MixingUnit1 | Mixing unit demo from Foellinger, Nichtlineare Regelungen II, p. 280
TwoPoint | Block with two-point behaviour

## Modelica_LinearSystems2.Controller.Examples.Components.DoublePendulum2

crane trolley system

### Information

Model of a simple double pendulum system using Modelica_LinearSystems2.Controller.Examples.Components.DoublePendulum.
The physical Model is used in Modelica_LinearSystems2.Examples.StateSpace.doublePendulumController where it is being linearized an used as a base for linear controller design. The results are used to control the crane system in Modelica_LinearSystems2.Controller.Examples.DoublePendulum.mo

Extends from Modelica_LinearSystems2.Controller.Templates.Internal.PlantTemplate (MIMO plant template).

### Parameters

Name | Description
--- | ---
n | system order
m | number of inputs
l | number of measurable outputs
additionalMeasurableOutputs |
m_trolley | [kg]
m_load | [kg]
length | [m]
phi1_start | [rad]
phi2_start | [rad]
w1_start | [rad/s]
w2_start | [rad/s]

### Connectors

Name | Description
--- | ---
y[n] |
u[m] |
ym[l] |

## Modelica_LinearSystems2.Controller.Examples.Components.DoublePendulum

crane trolley system

### Information

Model of a simple double pendulum system.
The physical Model is used in Modelica_LinearSystems2.Examples.StateSpace.doublePendulumController where it is being linearized an used as a base for linear controller design. The results are used to control the crane system in Modelica_LinearSystems2.Controller.Examples.DoublePendulum.mo

### Parameters

Name | Description
--- | ---
m_trolley | [kg]
m_load | [kg]
length | [m]
phi1_start | [rad]
phi2_start | [rad]
w1_start | [rad/s]
w2_start | [rad/s]

### Connectors

Name | Description
--- | ---
u |
s |
v |
phi |
w |
phi1 |
w1 |

## Modelica_LinearSystems2.Controller.Examples.Components.SeriesConnection

Series connection of two PT1 blocks

### Information

Extends from Modelica.Blocks.Interfaces.BlockIcon (Basic graphical layout of input/output block).

### Parameters

Name | Description
--- | ---
blockType | Type of Sampled blocks (Continuous or Discrete)
methodType | Discretization method for discrete blocks
sampleTime | Base sample time for discrete blocks [s]
T1 | [s]
T2 | [s]

## Modelica_LinearSystems2.Controller.Examples.Components.InverseDoublePendulum2

inverted double pendulum

### Information

Model of a simple inverted double pendulum system using Modelica_Controller.Examples.Components.InverseDoublePendulum.
The physical Model is used in Modelica_LinearSystems2.Examples.StateSpace.inverseDoublePendulumController where it is being linearized an used as a base for linear controller design. The results are used to control the crane system in Modelica_Controller.Examples.InverseDoublePendulum.mo

Extends from Templates.Internal.PlantTemplate (MIMO plant template).

### Parameters

Name | Description
--- | ---
n | system order
m | number of inputs
l | number of measurable outputs
additionalMeasurableOutputs |
m_trolley | [kg]
m_load | [kg]
length | [m]
phi1_start | [rad]
phi2_start | [rad]
w1_start | [rad/s]
w2_start | [rad/s]
s_start | [m]
cartDisturbance |
bodyDisturbance |

### Connectors

Name | Description
--- | ---
y[n] |
u[m] |
ym[l] |
dist |
dist2 |

## Modelica_LinearSystems2.Controller.Examples.Components.InverseDoublePendulum

inverse double pendulum

### Information

Model of a simple inverted double pendulum system. The mdel is the same as in Modelica_Controller.Examples.Components.DoublePendulum but with different initial values because the initial values are used as a working point for linearization.
The physical Model is used in Modelica_LinearSystems2.Examples.StateSpace.inverseDoublePendulumController where it is being linearized an used as a base for linear controller design. The results are used to control the crane system in Modelica_Controller.Examples.InverseDoublePendulum.mo

### Parameters

Name | Description
--- | ---
m_trolley | [kg]
m_load | [kg]
length | [m]
phi1_start | [rad]
phi2_start | [rad]
w1_start | [rad/s]
w2_start | [rad/s]
s_start | [m]
v_start | [m/s]
cartDisturbance |
bodyDisturbance |

### Connectors

Name | Description
--- | ---
u |
s |
v |
phi |
w |
phi1 |
w1 |
dist |
dist2 |

## Modelica_LinearSystems2.Controller.Examples.Components.InverseDoublePendulum3

Inverted double pendulum

### Information

Model of a simple inverted double pendulum system using Modelica_Controller.Examples.Components.InverseDoublePendulum.
The physical Model is used in Modelica_LinearSystems2.Examples.StateSpace.inverseDoublePendulumController where it is being linearized an used as a base for linear controller design. The results are used to control the crane system in Modelica_Controller.Examples.InverseDoublePendulum.mo

Extends from Modelica_LinearSystems2.Controller.Templates.Internal.PlantTemplate (MIMO plant template).

### Parameters

Name | Description
--- | ---
n | system order
m | number of inputs
l | number of measurable outputs
additionalMeasurableOutputs |
m_trolley | [kg]
m_load | [kg]
length | [m]
phi1_start | [rad]
phi2_start | [rad]
w1_start | [rad/s]
w2_start | [rad/s]
s_start | [m]
cartDisturbance |
bodyDisturbance |
secondAngle |

### Connectors

Name | Description
--- | ---
y[n] |
u[m] |
ym[l] |
dist |
dist2 |

## Modelica_LinearSystems2.Controller.Examples.Components.AccelerationLimiter

output follows input with limited acceleration and optionally limited velocity

### Information

Extends from Interfaces.PartialSampledBlock (Partial block of Sampled library (icon + default parameters)).

### Parameters

Name | Description
--- | ---
velocityLimitation | true if velocity to be limited
v_limit | maximal absolute velocity
a_limit | maximal absolute acceleration
Advanced options
blockType | Type of block (Continuous/Discrete)
methodType | Type of discretization if discrete block
sampleFactor | Ts=sampleClock.sampleTime*sampleFactor
initType | Type of initialization (no init/initial/steady state/output)
integrator1
y1_start | start value of integrtor1
withDelay1 | delays the input of integrator1
integrator2
y2_start | start value of integrtor2
withDelay2 | delays the input of integrator2

### Connectors

Name | Description
--- | ---
u |
s |
v |
a |

## Modelica_LinearSystems2.Controller.Examples.Components.MixingUnit

Mixing unit demo from Foellinger, Nichtlineare Regelungen II, p. 280

### Information

Extends from Templates.Internal.PlantTemplate_SISO (SISO plant template).

### Parameters

Name | Description
--- | ---
l | number of measurable outputs
additionalMeasurableOutputs |
a1 |
a21 |
a22 |
b |
k0 |
eps |
c0 | Nominal concentration [mol/l]
T0 | Nominal temperature [K]
x10 |
x10_inv |
x20 |
u0 |

### Connectors

Name | Description
--- | ---
y |
u |
ym[l] |

## Modelica_LinearSystems2.Controller.Examples.Components.MixingUnit1

Mixing unit demo from Foellinger, Nichtlineare Regelungen II, p. 280

### Parameters

Name | Description
--- | ---
c0 | Nominal concentration [mol/l]
T0 | Nominal temperature [K]
a1 |
a21 |
a22 |
b |
k0 |
eps |

### Connectors

Name | Description
--- | ---
T_c | Cooling temperature [K]
c | Concentration [mol/l]
T | Temperature in mixing unit [K]

## Modelica_LinearSystems2.Controller.Examples.Components.TwoPoint

Block with two-point behaviour

### Information

Extends from Modelica.Blocks.Interfaces.SISO (Single Input Single Output continuous control block).

### Parameters

Name | Description
--- | ---
b |

### Connectors

Name | Description
--- | ---
u | Connector of Real input signal
y | Connector of Real output signal