Title :
Design and implementation of LQR controller for inverted pendulum by use of REX control system
Author :
Ozana, Stepan ; Pies, Martin ; Slanina, Zdenek ; Hajovsky, Radovan
Author_Institution :
Dept. of Cybern. & Biomed. Eng., VSB-Tech. Univ. of Ostrava, Ostrava, Czech Republic
Abstract :
The paper deals with design and implementation of LQR controller for physical model of inverted pendulum. It presents derivation of the full nonlinear mathematical model, its linearization leading to linear state-space description. The mathematical model is then used for design of LQR controller using Matlab. The control scheme is implemented in PAC (programmable automation controller) WinPAC-8000 with the use of REX Control System.
Keywords :
control system synthesis; linear quadratic control; mathematical analysis; nonlinear systems; pendulums; programmable controllers; state-space methods; LQR controller design; LQR controller implementation; Matlab; PAC WinPAC-8000; REX control system; control scheme; inverted pendulum; linear state-space description; nonlinear mathematical model; programmable automation controller; Algorithm design and analysis; Automation; Control systems; Equations; Friction; MATLAB; Mathematical model; LQR; Matlab; REX Control System; inverted pendulum;
Conference_Titel :
Control, Automation and Systems (ICCAS), 2012 12th International Conference on
Conference_Location :
JeJu Island
Print_ISBN :
978-1-4673-2247-8
