Inverted Pendulum Control Using LQR and LQG Techniques

The inverted pendulum control system is often studied in theory in control classes. In this laboratory, an attempt is made to accurately control a real inverted pendulum cart system. The system is characterized through the dynamics of the system linearized about the unstable equilibrium point. This point corresponds to a vertically upward oriented pole balanced on top of the forced cart. A controller that implemented LQR and LQG techniques was designed through simulation which achieved a rise time of 3.16 seconds and overshoot of 5.2%. The controller designed in simulation was implemented on the real system. The closed loop performance of the real system achieved a rise time of 3.52 seconds and an overshoot of 3.6%.

[chrisnunez]

oh come on tap it!... 10 seconds later, gentle dude!