@article {10.3844/ajassp.2009.1106.1115,
article_type = {journal},
title = {Real-Time Optimal Control for Rotary Inverted Pendulum},
author = {Sukontanakarn, Viroch and Parnichkun, Manukid},
volume = {6},
year = {2009},
month = {Jun},
pages = {1106-1115},
doi = {10.3844/ajassp.2009.1106.1115},
url = {https://thescipub.com/abstract/ajassp.2009.1106.1115},
abstract = {Problem statement: The rotary inverted pendulum system was a highly nonlinear model, multivariable and absolutely unstable dynamic system. It was used for testing various design control techniques and in teaching modern control. The objectives of this study were to: (i) Develop a real rotary inverted pendulum which derived the mechanical model by using Euler-Lagrange and (ii) Design controller algorithm for self-erecting and balancing of a rotary inverted pendulum. Approach: Research shown a convenient way to implement a real-time control in self-erecting a pendulum from downward position and balancing the pendulum in vertical-upright position. An Energy based on PD controller was applied in self-erecting of the pendulum while LQR controller was applied to balance the pendulum. Results: Results of both control techniques from computer simulation and experiment were given to show the effectiveness of these controllers. Conclusion: Both simulations and experiments were confirmed the control efficiency of the method.},
journal = {American Journal of Applied Sciences},
publisher = {Science Publications}
}