Author/Authors :
Razmjooy، Navid نويسنده Department of Engineering , , Madadi، Ali نويسنده he is a PhD degree candidate of Mechanical Engineering at Amirkabir University of Technology, , , Alikhani، Hamid Reza نويسنده Tafresh University/Electrical Department, Tafresh, Iran. , , Mohseni، Mahmood نويسنده Department of Electrical Engineering, University of Tafresh, Tafresh, Iran. ,
Abstract :
In this paper an inverted pendulum is modeled firstly by using Euler – Lagrange energy equation for stabilization of the pendulum. To control the modeled system, both full-state feedback and Linear Quadratic Regulator controller methods are applied and the results are compared. After that, a pre-compensator is implemented to eliminate the steady-state error. Linear Quadratic Regulator is an optimal technique of pole placement method which defines the optimal pole location based on a definite cost function. The investigated system develops classical inverted pendulum by forming two moving masses. The motion of two masses in the pendulum which slide along the horizontal plane is controllable.
