대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2001년도 하계학술대회 논문집 D
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- Pages.2240-2242
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- 2001
LQR 제어 알고리즘을 이용한 원운동형 2축 도립 진자의 제어
Control of a Rotary Double Inverted Pendulum using LQR Control Algorithm
- Hwang, Eon-Du (Dept. of Electronics Eng. Ajou University) ;
- Park, Min-Ho (Dept. of Electronics Eng. Ajou University) ;
- Lee, Sang-Hyuk (Dept. of Electronics Eng. Ajou University)
- 발행 : 2001.07.18
초록
A rotary double inverted pendulum, the nonlinear system has a regulation problem. In this paper, we linearize the nonlinear system at the upright equilibrium position. The linearized system can be expressed in state space. To maintain the upright position, we design a feedback controller using LQR(Linear Quadratic Regulator) algorithm. Then we simulate the system with third-order Adams Bashforth Moulton Method. The simulated result shows that the applied algorithm is effective for the regulation problem.
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