Real-time optimal control for rotary inverted pendulum

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Abstract

Problem statement: The rotary inverted pendulum system was a highly nonlinear model, multivariable and absolutely unstable dynamic system. It was used for testing various design control techniques and in teaching modern control. The objectives of this study were to: (i) Develop a real rotary inverted pendulum which derived the mechanical model by using Euler-Lagrange and (ii) Design controller algorithm for self-erecting and balancing of a rotary inverted pendulum. Approach: Research shown a convenient way to implement a real-time control in self-erecting a pendulum from downward position and balancing the pendulum in vertical-upright position. An Energy based on PD controller was applied in self-erecting of the pendulum while LQR controller was applied to balance the pendulum. Results: Results of both control techniques from computer simulation and experiment were given to show the effectiveness of these controllers. Conclusion: Both simulations and experiments were confirmed the control efficiency of the method. © 2009 Science Publications.

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Sukontanakarn, V., & Parnichkun, M. (2009). Real-time optimal control for rotary inverted pendulum. American Journal of Applied Sciences, 6(6), 1106–1115. https://doi.org/10.3844/ajassp.2009.1106.1115

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