Title :
Modeling and simulation for a triple inverted-pendulum
Author :
Ji, Beichen ; Cong, Shuang
Author_Institution :
Dept. of Autom., Univ. of Sci. & Technol. of China, China
Abstract :
The model of a triple inverted-pendulum is constructed by means of Lagrange equation. During the modeling the qualities of joints and encoders, which are usually neglected are especially considered. After applying linearization and discretization to the obtained 8×8 model, LQR algorithm is used to gain feedback control matrix to maintain pendulum on balance and the choice of weights in LQR is also discussed. The system is simulated and the result of simulation is given.
Keywords :
control system analysis; feedback; linear quadratic control; linearisation techniques; matrix algebra; nonlinear control systems; pendulums; Lagrange equation; discretization technique; encoders; feedback control matrix; linear quadratic regulator algorithm; linearisation technique; triple inverted pendulum modeling; triple inverted pendulum simulation; Automation; Equations; Feedback control; Lagrangian functions;
Conference_Titel :
Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on
Print_ISBN :
0-7803-8273-0
DOI :
10.1109/WCICA.2004.1340597
