Inverted Pendulum Optimal Control Based on First Principle Model
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.
KeywordsInverted pendulum First principle model Optimal control LQ controller
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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