==== Simulating the RIP project using CAD model and Simulink ====

Follow this simple tutorial to learn how to export your Lego assemblies using SolidWorks to Simulink. Simulink is a powerfull tool to develop and test your controller before you go to the actual project and start coding. 

You can find a lot of useful things for this project under this kit: 
{{::rip_kit.rar| Kit for the RIP project}}

There is a **Matlab script** to run the LQR calculation and find the gains ( the derivation of the model is shown in the system modelling section). There is a folder including the **complete building** of the system . There is another folder that you will use to run the Simulink programs named **Only Sensors building**. There you will find Simulink programs to simulate only the balance , the swing-up and the balance , and a fuzzy logic controller.

----


==== How to export a SolidWorks Lego assembly into Simulink ====

[[lego_rip_simulation_cad|How to export your SolidWorks model into Simulink]]


----


==== Videos  ====

**You can use SolidWorks to build a virtual model of your project and get important data as Center of Gravity, Inertia and mass of your assembly.**

{{youtube>smo7Lrn5lBA?medium}}

**You can test if you did the LQR calculation right , simulating only the pendulum balance:**

{{youtube>zrT3VJjqWLY?medium}}

**You can test your swing-up algorithms and test your switch controller to see if the integration of your swing-up controller and the balance controller will work:**

{{youtube>J-HCzT4iq_I?medium}}

**Also you can try new ways to control the balance , like using fuzzy logic controllers:**

{{youtube>B9Iyk7TM0Vs?medium}}