State Space Based Linear Controller Design for the Inverted Pendulum

  • Miklós Kuczmann Széchenyi István University, Hungary
Keywords: inverted pendulum, model based control, pole placement, optimal control

Abstract

In a previous survey paper the detailed PID controller design to stabilize the inclination angle as well as the horizontal movement of an inverted pendulum system has been presented. In this paper the linear controller design based on the state space representation is shown step by step. Pendulum model is based on EulerLagrange modeling, and the nonlinear state space model is linearized in the unstable upward position, finally pole placement by Ackermann formula and Bass–Gura equation, moreover linear quadratic optimal control are presented. The pendulum has been inserted into a virtual reality laboratory, which is suitable to use in model based control teaching.

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Published
2019-04-26
How to Cite
Kuczmann, M. (2019) “State Space Based Linear Controller Design for the Inverted Pendulum”, Acta Technica Jaurinensis, 12(2), pp. pp. 130-147. doi: 10.14513/actatechjaur.v12.n2.499.
Section
Information Technology and Electrical Engineering