2012•Industrial Instrumentation & AutomationRequires access

Single inverted pendulum system design and LQR optimal control simulation

Kai Liu

Abstract

By using the Lagrange mechanics,the mathematical model of a single inverted pendulum is built and state space equation is obtained.A controlled inverted pendulum system is designed,and system performance is analysed.A linear inverted pendulum optimal controller based on LQR is designed.Simulation and experiment proved that the LQR has good real-time control effects,and ensure that the system has good stability and robustness.

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Available abstract

Key concepts: Inverted pendulum, Control theory (sociology), Robustness (evolution), Double inverted pendulum, Double pendulum, Optimal control, Pendulum, Engineering