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Erschienen in:
2016 | OriginalPaper | Buchkapitel
Inverted Pendulum Optimal Control Based on First Principle Model
verfasst von : František Dušek, Daniel Honc, K. Rahul Sharma, Libor Havlíček
Erschienen in: Automation Control Theory Perspectives in Intelligent Systems
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Abstract
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.