Controlling the Inverted Pendulum

نویسنده

  • Steven A. P. Quintero
چکیده

The strategies involved in swinging up and balancing the inverted pendulum are discussed. The nonlinear swing-up controller drives the system input according to the energy of the pendulum. The balancing controller is a digital linear quadratic regulator that is based on a model of the plant that has been linearized about the pendulum’s upright equilibrium position. Relays with hysteresis are employed to ensure smooth transitions between the two controllers.

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تاریخ انتشار 2008