Control Theory: Inverted Pendulum


During the Summer of 2013, I worked on designing and implementing a linear quadratic regulator (LQR) for a rotary inverted pendulum using Matlab and Simulink.  In my report, I present my own derivation of a state space model for the Quanser system and verify its improvement in matching the actual system response over the one given in the Quanser handbook.  Afterwards, I optimized the LQR control for the inverted pendulum so that it would respond robustly to external disturbances while swinging back and forth, such as the ones shown in the youtube video link above.

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