2014•Applied Mechanics and MaterialsOpen access

Optimal Control Theory Research on Inverted Pendulum System

Shuo Mei Wu, Jian Wei Song, Wen Qing Zhang

Abstract

The state space expression can be deduced by establishing the mathematical model of inverted pendulum system. In this paper, linear quadratic regulator (LQR) is used to control the inverted pendulum system, providing better balance between system robustness stability and rapidity. The simulation structure shows that the better the system anti-interference capability is, the shorter its recovery time is. Good control effect can be achieved by applying linear quadratic optimal control in the control of double inverted pendulum balancing system.

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Available abstract

Key concepts: Inverted pendulum, Control theory (sociology), Linear-quadratic regulator, Double inverted pendulum, Robustness (evolution), Double pendulum, Quadratic equation, Control system