DocumentCode
3515237
Title
Modeling and simulation for a triple inverted-pendulum
Author
Ji, Beichen ; Cong, Shuang
Author_Institution
Dept. of Autom., Univ. of Sci. & Technol. of China, China
Volume
1
fYear
2004
fDate
15-19 June 2004
Firstpage
378
Abstract
The model of a triple inverted-pendulum is constructed by means of Lagrange equation. During the modeling the qualities of joints and encoders, which are usually neglected are especially considered. After applying linearization and discretization to the obtained 8×8 model, LQR algorithm is used to gain feedback control matrix to maintain pendulum on balance and the choice of weights in LQR is also discussed. The system is simulated and the result of simulation is given.
Keywords
control system analysis; feedback; linear quadratic control; linearisation techniques; matrix algebra; nonlinear control systems; pendulums; Lagrange equation; discretization technique; encoders; feedback control matrix; linear quadratic regulator algorithm; linearisation technique; triple inverted pendulum modeling; triple inverted pendulum simulation; Automation; Equations; Feedback control; Lagrangian functions;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on
Print_ISBN
0-7803-8273-0
Type
conf
DOI
10.1109/WCICA.2004.1340597
Filename
1340597
Link To Document