I've got following problem - while i was modelling inverted pendulum in Simscape, there were only a few units that I could use for my system to decribe different variables. For example, for angular velocity of the pendulum in Simscape I have units like rad/s or deg/s. In the real system, where I implement my model I've got completely diffrent units (angular velocity - rotations/min, velocity of the cart - mm/min etc.) that don't comply with the ones in the model.
In both systems, I control upright position using PID controller. I tried to convert units in my model to units in the real system but something seems not to work. The gains don't fit, what's working in the simulation doesn't work in real system.
I don't know what I'm doing wrong.Can anybody help me with that.