Modelling, simulation, animation, and real-time control (MoSART) for a class of electromechanical systems: A system-theoretic approach

This paper describes an interactive modelling, simulation, animation, and real-time control (MoSART) environment for a class of ‘cart-pendulum’ electromechanical systems that may be used to enhance learning within differential equations and linear algebra classes. The environment is useful for conveying fundamental mathematical/systems concepts through computeraided analysis, design, graphical visualization, and 3D animation. Referred to as Cart-Pendulum Control3D-Lab¹, the environment is based on Microsoft Windows/Visual C++/Direct-3D and MATLAB/Simulink². Pull-down menus provide access to systems/models/control laws, exogenous signals, parameters, animation models and visual indicators, a suite of (easy-to-modify) Simulant diagrams containing models and control laws, MATLAB m-files for detailed analysis and design, and detailed documentation for each of the above. Three blocks enable animation, joystick inputs, and real-time animation within Simulant. Examples are presented to illustrate the utility of the environment as a valuable tool for analysing/visualizing the above class of electromechanical systems and for enhancing mathematics instruction.