STABILIZATION CONTROL FOR THE INTERIA WHEEL PENDULUM BASED ON LQR CONTROLLER
Journal Title: Informatyka Automatyka Pomiary w Gospodarce i Ochronie Środowiska - Year 2012, Vol 2, Issue 4
Abstract
Work is about stabilizing the inverted pendulum object called IWP (Inertia Wheel Pendulum). It is a non-linear mechanical system in the form of an inverted pendulum containing a flywheel mounted on top accelerated by DC motor. The authors suggested stabilization by LQR control, which requires the linearization and discretization of the mathematical equations of the object. Simulation and experiment have confirmed proper operation of the proposed method.
Authors and Affiliations
Adam Owczarkowski, Jarosław Gośliński
Keywords
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