State feedback control of a rotary inverted pendulum

Tomi Räsänen, Veli-Pekka Pyrhönen

Research output: Chapter in Book/Report/Conference proceedingConference contributionProfessional


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 languageEnglish
Title of host publicationAutomaatiopäivät 23
Subtitle of host publication15-16.5.2019, Oulu
EditorsEsko Juuso
Place of PublicationOulu
PublisherSuomen Automaatioseura
Number of pages8
ISBN (Print)13 978–952-5183-54-2
Publication statusPublished - 15 May 2019
Publication typeD3 Professional conference proceedings
EventAutomaatiopäivät - Oulu, Finland
Duration: 15 May 201916 May 2019




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


Dive into the research topics of 'State feedback control of a rotary inverted pendulum'. Together they form a unique fingerprint.

Cite this