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http://dx.doi.org/10.5391/JKIIS.2010.20.6.768

The Performance Verification of Optimal State Feedback Controllers via The Inverted Pendulum  

Lee, Jong-Yeon (공주대학교 전기전자제어공학부)
Lee, Bo-Ra (공주대학교 전기전자제어공학부)
Hyun, Chang-Ho (공주대학교 전기전자제어공학부)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.20, no.6, 2010 , pp. 768-773 More about this Journal
Abstract
This paper presents the performance verification of the optimal state feedback controller via inverted pendulum systems. The proposed method generates the optimal control inputs satisfying both the constrained input and the performance specification. In addition, it reduces the steady-state error by adopting the integral control technique. In order to verify the performance of the proposed method, we apply both the proposed method and the general state feedback control to an inverted pendulum, CEM-IP-01 in the experiment.
Keywords
Inverted pendulum; State-space representation; Jacobian; Transformation matrix; Optimal state-feedback controller;
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