State feedback control of a rotary inverted pendulum

Tomi Räsänen; Veli-Pekka Pyrhönen

State feedback control of a rotary inverted pendulum

Automation Technology and Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Professional

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.

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 - Oulu, Finland Duration: 15 May 2019 → 16 May 2019

Conference

Conference	Automaatiopäivät
Country/Territory	Finland
City	Oulu
Period	15/05/19 → 16/05/19

Keywords

LQR-control
Pole-placement
Inverted pendulum
Balance control
Reference tracking

Cite this

@inproceedings{196e5b53d3444b56904728a526a87b30,

title = "State feedback control of a rotary inverted pendulum",

abstract = "In this paper, we design a state feedbackcontroller for a rotary inverted pendulum, which ismounted to a Quanser QUBE-Servo 2 unit. To bemore speciﬁc, we use linear quadratic regulator to ﬁndsuitable controller gains for QUBE-Servo 2 system.The essential characteristics of the QUBE-Servo 2 unitare presented and the performances of the closed-loopsystems are evaluated based on rise time, settling timeand overshoot of the rotary arm{\textquoteright}s step response. Thedesign is validated using simulations and real-timeexperiments. The resulting controller stabilizes therotary pendulum to upright position and is able to movethe pendulum to desired angular position while keepingthe balance under control.",

keywords = "LQR-control, Pole-placement, Inverted pendulum, Balance control, Reference tracking",

author = "Tomi R{\"a}s{\"a}nen and Veli-Pekka Pyrh{\"o}nen",

note = "INT=atme,{"}R{\"a}s{\"a}nen, Tomi{"}; Automaatiop{\"a}iv{\"a}t ; Conference date: 15-05-2019 Through 16-05-2019",

year = "2019",

month = may,

day = "15",

language = "English",

isbn = "13 978–952-5183-54-2",

editor = "Esko Juuso",

booktitle = "Automaatiop{\"a}iv{\"a}t 23",

publisher = "Suomen Automaatioseura",

}

TY - GEN

T1 - State feedback control of a rotary inverted pendulum

AU - Räsänen, Tomi

AU - Pyrhönen, Veli-Pekka

N1 - INT=atme,"Räsänen, Tomi"

PY - 2019/5/15

Y1 - 2019/5/15

N2 - In this paper, we design a state feedbackcontroller for a rotary inverted pendulum, which ismounted to a Quanser QUBE-Servo 2 unit. To bemore speciﬁc, we use linear quadratic regulator to ﬁndsuitable controller gains for QUBE-Servo 2 system.The essential characteristics of the QUBE-Servo 2 unitare presented and the performances of the closed-loopsystems are evaluated based on rise time, settling timeand overshoot of the rotary arm’s step response. Thedesign is validated using simulations and real-timeexperiments. The resulting controller stabilizes therotary pendulum to upright position and is able to movethe pendulum to desired angular position while keepingthe balance under control.

AB - In this paper, we design a state feedbackcontroller for a rotary inverted pendulum, which ismounted to a Quanser QUBE-Servo 2 unit. To bemore speciﬁc, we use linear quadratic regulator to ﬁndsuitable controller gains for QUBE-Servo 2 system.The essential characteristics of the QUBE-Servo 2 unitare presented and the performances of the closed-loopsystems are evaluated based on rise time, settling timeand overshoot of the rotary arm’s step response. Thedesign is validated using simulations and real-timeexperiments. The resulting controller stabilizes therotary pendulum to upright position and is able to movethe pendulum to desired angular position while keepingthe balance under control.

KW - LQR-control

KW - Pole-placement

KW - Inverted pendulum

KW - Balance control

KW - Reference tracking

M3 - Conference contribution

SN - 13 978–952-5183-54-2

BT - Automaatiopäivät 23

A2 - Juuso, Esko

PB - Suomen Automaatioseura

CY - Oulu

T2 - Automaatiopäivät

Y2 - 15 May 2019 through 16 May 2019

ER -

State feedback control of a rotary inverted pendulum

Abstract

Conference

Keywords

Fingerprint

Cite this