Journal of the Korean Society of Fisheries and Ocean Technology (수산해양기술연구)
- Volume 30 Issue 3
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- Pages.199-208
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- 1994
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- 2671-9940(pISSN)
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- 2671-9924(eISSN)
A Study on Modeling and LQ Control of Inverted Pendulum System
도립 전자 시스템의 모델링과 LQ제어에 관한 연구
- Yang, Ju-Ho (National Fisheris University of Pusan) ;
- Choung, Kwang-Gyo (Industrial Graduate Schol, National Fisheris University of Pusan)
- Published : 1994.09.01
Abstract
The inverted pendulum is one of the control mechanism that has been frequently used to verify the control theory in the laboratory. In this paper, the author made an inverted pendulum driven by DC servomotor with a simple DC motor drive circuit, and constituted a control system. The control mechanism is modeled, and identified parameters of inverted pendulum system by experimental method. The author used the LQ regulator as control algorithm and the minimum order observer algorithm to observe states that can not be measured. And the validity of parameter identification and the excellent performance of the control system designed by LQR are confirmed.
Keywords