Optimal Control Theory Research on Inverted Pendulum System
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 str...
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| Veröffentlicht in: | Applied Mechanics and Materials 2014-02, Vol.494-495 (Current Development of Mechanical Engineering and Energy), p.1118-1121 |
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| container_issue | Current Development of Mechanical Engineering and Energy |
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| container_title | Applied Mechanics and Materials |
| container_volume | 494-495 |
| creator | Zhang, Wen Qing Wu, Shuo Mei Song, Jian Wei |
| description | 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. |
| doi_str_mv | 10.4028/www.scientific.net/AMM.494-495.1118 |
| format | Article |
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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. 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| subjects | Computer simulation Control systems Linear quadratic Linear quadratic regulator Mathematical models Optimal control Pendulums Stability |
| title | Optimal Control Theory Research on Inverted Pendulum System |
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