Title :
The Computer Simulation and Real-Time Stabilization Control for the Inverted Pendulum System Based on LQR
Author :
Lingyan, Hu ; Guoping, Liu ; Xiaoping, Liu ; Hua, Zhang
Author_Institution :
Sch. of Mech. & Electr. Eng., NanChang Univ., Nanchang, China
Abstract :
The paper established mathematical model of inverted pendulum system, based on the elaborate mechanical analysis. According linear quadratic optimal control theory, the paper put forward an Linear Quadratic Regulator (LQR) for the system. The simulation result shows that the inverted pendulum system with the state feedback matrix can realize the pendulum angle and the carriage position stabilization control. In addition, the real-time control of the pendulum has been accomplished successfully based on the real-time control model built in Simulink. The result of real-time control experiment is simular to the simulation, which also validated the correctness of the theoretical analysis and the rightness of the computer simulation. In addition, comparison analysis between the simulation and real-time control experiment is carried out.
Keywords :
linear quadratic control; nonlinear systems; pendulums; stability; state feedback; carriage position stabilization control; computer simulation; inverted pendulum system; linear quadratic optimal control theory; linear quadratic regulator; pendulum angle realization; pendulum real-time control; real-time stabilization control; state feedback matrix; Analytical models; Computational modeling; Computer simulation; Information analysis; Mathematical model; Optimal control; Position control; Rails; Real time systems; State feedback; Inverted pendulum; LQR; Real-time control; Simulation;
Conference_Titel :
Natural Computation, 2009. ICNC '09. Fifth International Conference on
Conference_Location :
Tianjin
Print_ISBN :
978-0-7695-3736-8
DOI :
10.1109/ICNC.2009.724
