Optimal Control Theory Research on Inverted Pendulum System

Shuo Mei Wu; Jian Wei Song; Wen Qing Zhang

doi:10.4028/www.scientific.net/AMM.494-495.1118

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 494-495Optimal Control Theory Research on Inverted...

Optimal Control Theory Research on Inverted Pendulum System

Abstract:

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.

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Periodical:

Applied Mechanics and Materials (Volumes 494-495)

Pages:

1118-1121

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.494-495.1118

Citation:

Cite this paper

Online since:

February 2014

Authors:

Shuo Mei Wu*, Jian Wei Song, Wen Qing Zhang

Keywords:

Inverted Pendulum, Linear Quadratic Optimal Regulator, MATLAB, Optimal Control

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* - Corresponding Author

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