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Inverted Pendulum Optimal Control Based on First Principle Model

  • František Dušek
  • Daniel Honc
  • K. Rahul Sharma
  • Libor Havlíček
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 466)

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.

Keywords

Inverted pendulum First principle model Optimal control LQ controller 

Notes

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.

References

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Copyright information

© Springer International Publishing Switzerland 2016

Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 2.5 International License (http://creativecommons.org/licenses/by-nc/2.5/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

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Authors and Affiliations

  • František Dušek
    • 1
  • Daniel Honc
    • 1
  • K. Rahul Sharma
    • 1
  • Libor Havlíček
    • 1
  1. 1.Faculty of Electrical Engineering and Informatics, Department of Process ControlUniversity of PardubicePardubiceCzech Republic

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