The inverted-pendulum model with consideration of pendulum resistance and its LQR controller

The paper discussed the inverted-pendulum model in detail. The pendulum resistance is considered which makes the model closer to the actual application. The simulation experiment results show that even when pendulum resistance coefficient is small, i.e. 0.005, the system performance is obvious affected. So the pendulum resistance is necessary to be considered in the model. The Linear Quadratic Regulator is designed for the inverted-pendulum system. Both pendulum angle and carriage displacement can be controlled with the regulator. We did the initial pendulum angle experiments and the disturbance experiments show that the system performance and stability are good.