State Space Based Linear Controller Design for the Inverted Pendulum

State Space Based Linear Controller Design for the Inverted Pendulum


  • Journal title: Acta Technica Jaurinensis
  • ISSN: 2064-5228 (online)
  • Publisher: Szechenyi Istvan University
  • Country of publisher: hungary
  • Platform/Host/Aggregator: Open journal system ojs
  • Date added to EuroPub: 2019/Sep/29

Subject and more

  • LCC Subject Category: Engineering, Multidisciplinary
  • Publisher's keywords: inverted pendulum, model based control, pole placement, optimal control
  • Language of fulltext: english
  • Full-text formats available: PDF
  • Time From Submission to Publication: 14


    Miklós Kuczmann


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In a previous survey paper the detailed PID controller design to stabilize the inclination angle as well as the horizontal movement of an inverted pendulum system has been presented. In this paper the linear controller design based on the state space representation is shown step by step. Pendulum model is based on EulerLagrange modeling, and the nonlinear state space model is linearized in the unstable upward position, finally pole placement by Ackermann formula and Bass–Gura equation, moreover linear quadratic optimal control are presented. The pendulum has been inserted into a virtual reality laboratory, which is suitable to use in model based control teaching.

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