A Study of Stabilization Quanser Linear Inverted Pendulum With Matlab Simulink Ignatius Budi Sutanto Hadisujoto, Hutomo Aji Nuswantoro
Sampoerna University
Abstract
Inverted pendulum problems are one of the popular issues that become the concern of study by many researchers. Due to of the system stabilization and balance condition, the system naturally has an unstable system condition as the pendulum in above pivot point. When the control input is not applied, the system will diverge into left or right to find its stable condition in the pivot point. In this paper, the study of control implementation is held to create a stable condition for the linear inverted pendulum system. By developing the system equation of motion by using lagrange equation, it will be used to describe the nonlinear model of the system which will be converted into state space representation. In this controller design, Linear Quadratic Regulator (LQR) method applied to determine suitable the feedback gain to stabilize the linear inverted pendulum platform. As the result, the gain controller with value of K = [ -50.0 115.8391 -41.2611 21.5454] are used to compare the relationship between the mathematical model and the real measurement
Keywords: Quanser, linear inverted pendulum, balancing, LQR
Topic: Symposium on Energy and Environmental Science and Engineering
