Design and implementation of LQR controller for inverted pendulum by use of REX control system

Author

Ozana, Stepan ; Pies, Martin ; Slanina, Zdenek ; Hajovsky, Radovan

Author_Institution

Dept. of Cybern. & Biomed. Eng., VSB-Tech. Univ. of Ostrava, Ostrava, Czech Republic

fYear

2012

fDate

17-21 Oct. 2012

Firstpage

343

Lastpage

347

Abstract

The paper deals with design and implementation of LQR controller for physical model of inverted pendulum. It presents derivation of the full nonlinear mathematical model, its linearization leading to linear state-space description. The mathematical model is then used for design of LQR controller using Matlab. The control scheme is implemented in PAC (programmable automation controller) WinPAC-8000 with the use of REX Control System.

Keywords

control system synthesis; linear quadratic control; mathematical analysis; nonlinear systems; pendulums; programmable controllers; state-space methods; LQR controller design; LQR controller implementation; Matlab; PAC WinPAC-8000; REX control system; control scheme; inverted pendulum; linear state-space description; nonlinear mathematical model; programmable automation controller; Algorithm design and analysis; Automation; Control systems; Equations; Friction; MATLAB; Mathematical model; LQR; Matlab; REX Control System; inverted pendulum;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems (ICCAS), 2012 12th International Conference on

Conference_Location

JeJu Island

Print_ISBN

978-1-4673-2247-8

Type

conf

Filename

6393459