Using Simscape Rotational Electromechanical converter together with wheel and axle to move a prismatic joint (wheelcart in inverted pendulum)

I have been trying to model a simple DC motor to interface with my wheelcart to be used for a inverted pendulum control problem. In real life, the motor drives a pulley which in turn drives a belt to pull (back and forth) a wheelcart.

I was able to model a DC motor using the "Rotational Electromechanical converter", with the R output linking to a wheel and axle with a radius of 2cm. It then goes towards a simple velocity-translational interface which uses an "Ideal Translational Velocity Source" and "Ideal Force Sensor". Producing a force output that goes towards my prismatic joint (not shown). As a feedback of the velocity of the joint, it goes back towards my "Ideal Translational Velocity Source".

Given that the ideal force sensor has a "C" port and needs to be connected somewhere, I figured it needs to go back to the "C" port of my "Rotational Electromechanical Converter", but I couldn't link it directly because one is rotational while another is linear.

So for now, I did another wheel and axle (red circle) with the same radius to allow it to return back.

Question 1: Is the red circle the correct thing to do? If not, how do I connect the "C" ports to each other?

Question 2: By using a simple wheel and axle to convert rotational energy to linear energy (while accounting for the radius of my pulley), is that the correct thing to do?

Answer 1

[Elvin Toh]

up. can someone give me some advice please?