Optimal control design for furuta's pendulum
Keywords:Optimal Control, Furuta Pendulum, Subactuated Systems, Electronic and Instrumentation.
AbstractIn this article, we discuss the design of a controller for the Furuta pendulum, which is a subactuated, nonlinear and highly unstable system, which makes it a scientific and technological challenge. This system is often used in the domain of control theory as it helps to understand concepts of control mechanisms. The dynamics of the Furuta pendulum can be found in several high-profile physical systems, such as: two-wheel robots, Segway, personal transporters, rocket propellers, flight controls, etc. The objective is to solve the stabilization problem in the unstable inverted position of the pendulum using an optimal controller, making use of the dynamic model of a pendulum manufactured by Quanser©. A linear quadratic regulator was designed, such that the undisturbed system is stable around the unstable inverted position, while the input signal energy is appropriate. The existence of the solutions of Riccati's algebraic equation assures stabilization and detectability of the system and implies that the closed-loop system is stable. The results show that the controller satisfies the design requirements of the system.
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Copyright (c) 2018 Jován Oseas Mérida Rubio, Paul Alejandro Chávez Vázquez, Luis Nestor Coria de los Ríos, Carlos Alberto Chávez Guzmán
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