Sub-Optimal Stabilizers of the Pendubot Using Various State Space Representations

This paper considers the issue of linear-quadratic regulator (LQR) design for nonlinear systems with use smooth state and input transformations. The proposed methodology is considered in stabilisation task Pendubot, which based on concept feedback equivalent control systems. It turns out that it possible to find a controller ensures comparable dynamics closed-loop system vicinity set point regardless state-space representation adopted. In addition, synthesis suboptimal controllers according LQR strategy ensuring equal at equilibrium presented. properties studied were investigated simulation environment using experimental tests. detailed forms transformations linear approximations given can be regarded as ready-made procedures applied stabilise similar mechanical robotics.