Simulink Simulation of Inverted Pendulum: Help Needed

[storcken]

I hope this is the right place to post.

I am trying to simulate an inverted pendulum as seen in the picture using simulink, it is supposed to balance by applying momentum with a DC-motor. I have used the equation in the picture to make the block diagram and the result of the running the simulation with initial value θ=10deg and M=0 is seen in the plot. It seems to be accurate the first 8 seconds but then somethings happen and I don't know what, is there anybody that can help me? What have i done wrong?

 

[Vailanor]

Thank you.It looks like your system is unstable. The plot you provided shows that the pendulum is oscillating beyond 10 degrees, which means the motor can't keep up with the pendulum and the momentum is not enough to balance the pendulum. You might need to increase the motor's torque or increase the damping to make the system more stable. Another way is to use a PID controller to control the pendulum's angle and momentum.