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Robust linear quadratic regulator applied to an inverted pendulum |
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| Authors: | Felix M. Escalante Andres L. Jutinico Marco H. Terra Adriano A. G. Siqueira |
| Affiliation: | 1. Department of Electrical Engineering, University of São Paulo at São Carlos, São Carlos, São Paulo, Brazil;2. Universidad Distrital Francisco José de Caldas, Bogotá, Colombia Contribution: Formal analysis, Investigation, Methodology, Writing - review & editing;3. Department of Electrical Engineering, University of São Paulo at São Carlos, São Carlos, São Paulo, Brazil Contribution: Formal analysis, Methodology, Project administration, Supervision, Writing - review & editing;4. Department of Mechanical Engineering, University of São Paulo at São Carlos, São Carlos, São Paulo, Brazil |
| Abstract: | The natural instability of an inverted pendulum and its dynamics richness, in terms of nonlinearity, provide a nice apparatus to reproduce behaviors of analogous systems. In this way, it is useful to perform benchmark tests for new control approaches developed. In this paper, we address the main inverted pendulum problems: pendulum stabilization, tracking, and catching swing-up control. We show how robust recursive, control and filtering, techniques improve the system performance. They are developed to solve stochastic problems based on deterministic approaches, in order to decrease the worst influence of uncertainties. Experimental results of the proposed robust approach provide robust stability and performance despite parametric uncertainties, disturbances, and noise effects. |
| Keywords: | discrete-time systems mechatronics systems robust control robust filtering |