文章基本信息

标题：Optimal Control of Double Inverted Pendulum Using LQR Controller
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作者：Sandeep Kumar Yadav ; Sachin Sharma ; Mr.Narinder Singh 等
期刊名称：International Journal of Advanced Research In Computer Science and Software Engineering
印刷版ISSN：2277-6451
电子版ISSN：2277-128X
出版年度：2012
卷号：2
期号：2
出版社：S.S. Mishra
摘要：Double Inverted Pendulum is a nonlinear system, unstable and fast reaction system. Double Inverted Pendulum is stable when its two pendulums allocated in vertically position and have no oscillation and movement and also inserting force should be zero. The aim of the paper is to design and performance analysis of the double inverted pendulum and simulation of Linear Quadratic Regulator (LQR) controller. Main focus is to introduce how to built the mathematical model and the analysis of it's system performance, then design a LQR controller in order to get the much better control. Matlab simulations are used to show the efficiency and feasibility of proposed approach
关键词：Double inverted pendulam; Matlab; Linear-quardratic regulator; system performance