2014•Journal of Dongguan University of TechnologyRequires access

Stabilization Control of Parallel Type Inverted Pendulum Based on Linear Quadratic Optimal Controller

QI Dong-don

Abstract

Inverted pendulum control system is a typical high order,unstable,multivariable,nonlinear and strong coupling control system. Based on building the mathematical model of the parallel double inverted pendulum control system,the linear quadratic regulator( LQR for short) is designed to achieve optimal control of the parallel double inverted pendulum system. Simulation experiments show that the method is effective.

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Available abstract

Key concepts: Inverted pendulum, Double inverted pendulum, Control theory (sociology), Linear-quadratic regulator, Multivariable calculus, Double pendulum, Nonlinear system, Optimal control