Title :
Comparative study of control methods of single-rotational inverted pendulum
Author :
Xu, Ke ; Duan, Xu-Dong
Author_Institution :
Dept. of Autom., Univ. of Sci. & Technol. of China, China
Abstract :
The structure and mathematical model of the Single-Rotational Inverted Pendulum (RIP) is presented in this paper. Two controllers for RIP are designed and applied. The results of simulation and real-time control show that the LQR controller is better than the pole-placement controller.
Keywords :
control system synthesis; linear quadratic control; nonlinear control systems; pendulums; pole assignment; state feedback; LQR controller; control methods comparison; controller design; mathematical model; nonlinear open-loop unstable system; pole-placement controller; pole-placement state-feedback controller; real-time control; simulation; single-rotational inverted pendulum; Automatic control; Control systems; DC motors; MATLAB; Mathematical model; Nonlinear control systems; Open loop systems; Optimal control; Torque control; Voltage control;
Conference_Titel :
Machine Learning and Cybernetics, 2002. Proceedings. 2002 International Conference on
Print_ISBN :
0-7803-7508-4
DOI :
10.1109/ICMLC.2002.1174486
