2005, Volume 7, Issue 10
Strategic Study of CAE >> 2005, Volume 7, Issue 10
A Control System Based on the Lagrange Modeling Method for a Single Link Rotary Inverted Pendulum
School of Electrical Engineering & Automation , Tianjin University, Tianjin 300072, China
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Abstract
In this paper the design and realization of the rotary inverted pendulum (RIP) control system is presented. After analyzing its dynamic characteristics, the system model based on Lagrange method is devised. In addition, linear quadratic regulator (LQR) is designed and implemented on the RIP system by successfully balancing the pendulum in the inverted position. Simulation and experimental results are presented to show the stable and robust responses of the control system.
Keywords
rotary inverted pendulum ; Lagrange method ; LQR control strategy
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References
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