DocumentCode
389277
Title
Comparative study of control methods of single-rotational inverted pendulum
Author
Xu, Ke ; Duan, Xu-Dong
Author_Institution
Dept. of Autom., Univ. of Sci. & Technol. of China, China
Volume
2
fYear
2002
fDate
2002
Firstpage
776
Abstract
The structure and mathematical model of the Single-Rotational Inverted Pendulum (RIP) is presented in this paper. Two controllers for RIP are designed and applied. The results of simulation and real-time control show that the LQR controller is better than the pole-placement controller.
Keywords
control system synthesis; linear quadratic control; nonlinear control systems; pendulums; pole assignment; state feedback; LQR controller; control methods comparison; controller design; mathematical model; nonlinear open-loop unstable system; pole-placement controller; pole-placement state-feedback controller; real-time control; simulation; single-rotational inverted pendulum; Automatic control; Control systems; DC motors; MATLAB; Mathematical model; Nonlinear control systems; Open loop systems; Optimal control; Torque control; Voltage control;
fLanguage
English
Publisher
ieee
Conference_Titel
Machine Learning and Cybernetics, 2002. Proceedings. 2002 International Conference on
Print_ISBN
0-7803-7508-4
Type
conf
DOI
10.1109/ICMLC.2002.1174486
Filename
1174486
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