Abstract
In this paper, we design a state feedback
controller for a rotary inverted pendulum, which is
mounted to a Quanser QUBE-Servo 2 unit. To be
more specific, we use linear quadratic regulator to find
suitable controller gains for QUBE-Servo 2 system.
The essential characteristics of the QUBE-Servo 2 unit
are presented and the performances of the closed-loop
systems are evaluated based on rise time, settling time
and overshoot of the rotary arm’s step response. The
design is validated using simulations and real-time
experiments. The resulting controller stabilizes the
rotary pendulum to upright position and is able to move
the pendulum to desired angular position while keeping
the balance under control.
controller for a rotary inverted pendulum, which is
mounted to a Quanser QUBE-Servo 2 unit. To be
more specific, we use linear quadratic regulator to find
suitable controller gains for QUBE-Servo 2 system.
The essential characteristics of the QUBE-Servo 2 unit
are presented and the performances of the closed-loop
systems are evaluated based on rise time, settling time
and overshoot of the rotary arm’s step response. The
design is validated using simulations and real-time
experiments. The resulting controller stabilizes the
rotary pendulum to upright position and is able to move
the pendulum to desired angular position while keeping
the balance under control.
| Original language | English |
|---|---|
| Title of host publication | Automaatiopäivät 23 |
| Subtitle of host publication | 15-16.5.2019, Oulu |
| Editors | Esko Juuso |
| Place of Publication | Oulu |
| Publisher | Suomen Automaatioseura |
| Number of pages | 8 |
| ISBN (Print) | 13 978–952-5183-54-2 |
| Publication status | Published - 15 May 2019 |
| Publication type | D3 Professional conference proceedings |
| Event | Automaatiopäivät - Duration: 20 Aug 2019 → … |
Conference
| Conference | Automaatiopäivät |
|---|---|
| Period | 20/08/19 → … |
Keywords
- LQR-control
- Pole-placement
- Inverted pendulum
- Balance control
- Reference tracking