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.
CITATION STYLE
Dušek, F., Honc, D., Rahul Sharma, K., & Havlíček, L. (2016). Inverted pendulum optimal control based on first principle model. In Advances in Intelligent Systems and Computing (Vol. 466, pp. 63–74). Springer Verlag. https://doi.org/10.1007/978-3-319-33389-2_7
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