Position Control of an Inverted Pendulum on an Inclined Railway

경사진 궤도에서 도립진자의 위치제어

This paper presents the position tracking control of an inverted pendulum on an inclined railway. In general, inclining the railway leads to errors in the pendulum angle even though the pendulum is stabilized, which results in errors in the cart position. To solve this problem, a linear quadratic regulation (LQR) controller with an integrator is used for compensating the resulting error in the cart position. The proposed method is evaluated by comparing LQR controllers with and without an integrator. Experimental results show that the LQR controller with an integrator is better in performance than one without an integrator.