Inverted pendulum model Linear–Quadratic Regulator (LQR)

Beata Kuśmierz; Konrad Gromaszek; Krzysztof Kryk

doi:10.1117/12.2501686

1 October 2018 Inverted pendulum model Linear–Quadratic Regulator (LQR)

Beata Kuśmierz, Konrad Gromaszek, Krzysztof Kryk

Proceedings Volume 10808, Photonics Applications in Astronomy, Communications, Industry, and High-Energy Physics Experiments 2018; 108086I (2018) https://doi.org/10.1117/12.2501686
Event: Photonics Applications in Astronomy, Communications, Industry, and High-Energy Physics Experiments 2018, 2018, Wilga, Poland

Abstract

The paper presents the control system, used to move pendulum from its hanging-down position to the upright, unstable position and then hold it there with LQR. The algorithm was implemented in LabVIEW, which resulted in application for automatic control of the pendulum. The elaborated simulations with the pendulum physical model verified the controllability and stability of the implemented controller.

Citation Download Citation

Beata Kuśmierz, Konrad Gromaszek, and Krzysztof Kryk "Inverted pendulum model Linear–Quadratic Regulator (LQR)", Proc. SPIE 10808, Photonics Applications in Astronomy, Communications, Industry, and High-Energy Physics Experiments 2018, 108086I (1 October 2018); https://doi.org/10.1117/12.2501686

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