회전형 역진자 시스템의 극점배치 제어기와 2차 최적제어기 비교 연구

Abstract

The inverted pendulum systems is difficult to control due to the inherent instability and nonlinear behavior. Some of the pendulum parameters may not be known exactly in practice, which influences significantly the system dynamics.

This study investigates the design and analysis of two controllers used to stabilize the rotary inverted pendulum. Firstly, state feedback controller is designed using Pole-Placement. Secondly, Quadratic Optimal Regulator is designed to determine the desired closed-loop poles such that it balances between the acceptable response and the amount of control energy required.

The outlines of this study are to :

(ⅰ) develop mathematical model of the inverted pendulum by using Euler-Lagrange. (ⅱ) introduce theory of Pole-Placement controller and Quadratic Optimal Regulator. (ⅲ) design Pole-Placement controller and Quadratic Optimal Regulator. (ⅳ) validate effectiveness of both controllers with experiment. (ⅴ) compare responses of both controllers.