Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2003.07d
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- Pages.2170-2172
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- 2003
Position Control of an Inverted Pendulum on an Inclined Railway
경사진 궤도에서 도립진자의 위치제어
- Lee, Jun-Beom (School of Electronics Engineering, Ajou University) ;
- Choi, Ho-Joon (School of Electronics Engineering, Ajou University) ;
- Hong, Suk-Kyo (School of Electronics Engineering, Ajou University)
- Published : 2003.07.21
Abstract
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.
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