Title :
Design and Simulation of LQR Controller with the Linear Inverted Pendulum
Author :
Wang, Hongliang ; Dong, Haobin ; He, Lianghua ; Shi, Yongle ; Zhang, Yuan
Author_Institution :
Inst. of Geophys. & Geomatics, China Univ. of Geosci., Wuhan, China
Abstract :
This paper focused on modeling and performance analysis of linear inverted pendulum and design and simulation of LQR controller. Main to introduce how to built the mathematic model and the analysis of it´s system performance, then design a LQR controller in order to get the much better control. Simulation is done to show the efficiency and feasibility of proposed approach.
Keywords :
control system synthesis; linear quadratic control; nonlinear systems; pendulums; LQR controller; linear inverted pendulum; Analytical models; Equations; Force; MATLAB; Mathematical model; Optimal control; LQR controller; inverted pendulum; simulation; system performance;
Conference_Titel :
Electrical and Control Engineering (ICECE), 2010 International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-6880-5
DOI :
10.1109/iCECE.2010.178
