Optimal control design for furuta's pendulum


  • Jován Oseas Mérida Rubio Faculty of Engineering Sciences and Technology, Autonomous University of Baja California, Blvd Universitario 1000, Valle de las Palmas Unit, 22260 Tijuana, Baja California, Mexico https://orcid.org/0000-0002-9355-4787
  • Paul Alejandro Chávez Vázquez Faculty of Engineering Sciences and Technology, Autonomous University of Baja California, Blvd Universitario 1000, Valle de las Palmas Unit, 22260 Tijuana, Baja California, Mexico
  • Luis Nestor Coria de los Ríos Technological Institute of Tijuana, National Technological Institute of Mexico. Calzada del Tecnológico S / N, Tomas Aquino, 22414 Tijuana, Baja California, Mexico https://orcid.org/0000-0002-1219-0433
  • Carlos Alberto Chávez Guzmán Faculty of Engineering and Business Tecate, Autonomous University of Baja California. Blvd. Universidad, La Viñita, 21460 Tecate, Baja California, Mexico https://orcid.org/0000-0002-2850-3676




Optimal Control, Furuta Pendulum, Subactuated Systems, Electronic and Instrumentation.


In 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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Mathematical Model with Simscape Mathematical Model with Simscape Modelo matemático con Simscape



How to Cite

Mérida Rubio, J. O., Chávez Vázquez, P. A., Coria de los Ríos, L. N., & Chávez Guzmán, C. A. (2020). Optimal control design for furuta’s pendulum. REVISTA DE CIENCIAS TECNOLÓGICAS, 1(2), 49–53. https://doi.org/10.37636/recit.v124953