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Optimal Design of LQR Controller for Single Inverted Pendulum

โœ Scribed by Peng, Yong; Liu, Zhi Neng


Book ID
119965217
Publisher
Trans Tech Publications, Ltd.
Year
2012
Tongue
English
Weight
269 KB
Volume
472-475
Category
Article
ISSN
1662-8958

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Controller design for an inverted pendul
โœ Toshiharu Sugie; Kenji Fujimoto ๐Ÿ“‚ Article ๐Ÿ“… 1998 ๐Ÿ› John Wiley and Sons ๐ŸŒ English โš– 150 KB ๐Ÿ‘ 2 views

In this paper, taking the inverted pendulum as an example of nonlinear systems which are not exactly linearizable, we give a controller design method for the system based on approximate linerization. In the method, we try to suppress the effect of the higher order residual terms in choosing the new