The Computer Simulation and Real-Time Stabilization Control for the Inverted Pendulum System Based on LQR

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.