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Inverted Pendulum Optimal Control Based on First Principle Model

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Automation Control Theory Perspectives in Intelligent Systems (CSOC 2016)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 466))

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Abstract

This paper describes the design procedure of nonlinear dynamical model of a real system—inverted pendulum—cart with pendulum. The aim of the paper is to create a mathematical model based on known constructional, mechanical and electrical characteristics of the physical system. Such a model is linearized into standard linear time-invariant state-space model where the input is motor power voltage and the outputs are cart position and pendulum angle. A linear model is used for discrete-time LQ controller design—state variables are estimated and the cart position is controlled with pendulum in upright metastable position.

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References

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Acknowledgments

This research was supported by Institutional support of The Ministry of Education, Youth and Sports of the Czech Republic and SGS project at FEI.

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Authors and Affiliations

  1. Faculty of Electrical Engineering and Informatics, Department of Process Control, University of Pardubice, nám. Čs. legií 565, 532 10, Pardubice, Czech Republic

    František Dušek, Daniel Honc, K. Rahul Sharma & Libor Havlíček

Authors
  1. František Dušek
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  2. Daniel Honc
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  3. K. Rahul Sharma
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  4. Libor Havlíček
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Editor information

Editors and Affiliations

  1. Faculty of Applied Informatics, Tomas Bata University in Zlín, Zlín, Czech Republic

    Radek Silhavy

  2. Faculty of Applied Informatics, Tomas Bata University in Zlín, Zlín, Czech Republic

    Roman Senkerik

  3. Faculty of Applied Informatics, Tomas Bata University in Zlín, Zlín, Czech Republic

    Zuzana Kominkova Oplatkova

  4. Faculty of Applied Informatics, Tomas Bata University in Zlín, Zlín, Czech Republic

    Petr Silhavy

  5. Faculty of Applied Informatics, Tomas Bata University in Zlín, Zlín, Czech Republic

    Zdenka Prokopova

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© 2016 Springer International Publishing Switzerland

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Dušek, F., Honc, D., Rahul Sharma, K., Havlíček, L. (2016). Inverted Pendulum Optimal Control Based on First Principle Model. In: Silhavy, R., Senkerik, R., Oplatkova, Z.K., Silhavy, P., Prokopova, Z. (eds) Automation Control Theory Perspectives in Intelligent Systems. CSOC 2016. Advances in Intelligent Systems and Computing, vol 466. Springer, Cham. https://doi.org/10.1007/978-3-319-33389-2_7

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  • DOI: https://doi.org/10.1007/978-3-319-33389-2_7

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-33387-8

  • Online ISBN: 978-3-319-33389-2

  • eBook Packages: EngineeringEngineering (R0)

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