The Analysis and Simulation of First-Order Inverted Pendulum Control System Based on LQR

The Analysis and Simulation of First-Order Inverted Pendulum Control System Based on LQR

Inverted Pendulum is a nonlinear, coupling, variable and naturally unsteady system. In order to control the system, the mathematic model through lag range equation was set up and the LQR Controller was designed in this paper. Last, the author analyzes the control results and obtains superior paramet...

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Bibliographische Detailangaben
Hauptverfasser: BaiLi Zhang, JiangGuo Wang
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Analytical models
Atmospheric modeling
Automation Control
Control systems
Equations
Inverted Pendulum
Linear systems
LQR
Mathematical model
MATLAB
Observability
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Beschreibung
Zusammenfassung:Inverted Pendulum is a nonlinear, coupling, variable and naturally unsteady system. In order to control the system, the mathematic model through lag range equation was set up and the LQR Controller was designed in this paper. Last, the author analyzes the control results and obtains superior parameters through simulation. The experimental results show that LQR control is more effective and robust.
DOI:10.1109/ISIP.2010.119