Low Frequencies Optimal Control of an Inverted Pendulum

This paper presents an optimal control algorithm of an inverted pendulum at which a digital prediction observer with deadbeat response is used to estimate the unmeasured state variables. Optimal control is a powerful algorithm considers the limitations in state variables and system actuators. The main limitation of optimal control in a practical view is its complete dependence on sense or estimation of state variables. In the worst case sampling frequency of the measurable state variables is near the frequency at which folding phenomenon happens. In this case a digital deadbeat response prediction observer offers the fastest way to estimate the unmeasured state variables in a digital control system. The conclusions will show that the proposed algorithm is an effective solution. The proposed algorithm not only performs as well as the high frequency control methods, but it also includes a better noise cancellation characteristic