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Study of Optimal Control Theory Based on Inverted Pendulum System

Song Hong‐wei

Abstract

The state space expression is derived,from the mathematic model of inverted pendulum system is established,to study the system observability,stability and controllability,and the use of two linear quadratic optimal regulator(LQR) on inverted pendulum control system.The MATLAB simulation results show that,using the LQR control method to control the system,can meet the system stability,the robustness requirement.

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Available abstract

Key concepts: Inverted pendulum, Observability, Control theory (sociology), Controllability, Linear-quadratic regulator, Double inverted pendulum, Robustness (evolution), MATLAB