Abstract
The rotational inverted pendulum is an unstable system with multiple variables. This study achieve the stability control of rotational inverted pendulum based on the LQR optimal control method. According to Lagrange dynamics equation modeling rotating pendulum. The paper makes a study of the weighted matrix Q and R. Designed controller and simulation according to the mathematical model by the Matlab. Results show the LQR method can achieve the stable control of rotational inverted pendulum.
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Acknowledgements
This work was supported by Liaoning Natural Science Foundation under Grant No. 20180550189 and No. 2019-ZD-0491
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Wang, D., Wang, X., Zhang, L. (2021). Controller Design Based on LQR for Rotational Inverted Pendulum. In: MacIntyre, J., Zhao, J., Ma, X. (eds) The 2020 International Conference on Machine Learning and Big Data Analytics for IoT Security and Privacy. SPIOT 2020. Advances in Intelligent Systems and Computing, vol 1283. Springer, Cham. https://doi.org/10.1007/978-3-030-62746-1_52
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DOI: https://doi.org/10.1007/978-3-030-62746-1_52
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