Proceedings of the 2016 International Conference on Automatic Control and Information Engineering

Double Inverted Pendulum Based on LQG Optimal Control

Authors
Yi Zheng, Peisi Zhong, Qingchao Yue
Corresponding Author
Yi Zheng
Available Online October 2016.
DOI
10.2991/icacie-16.2016.20How to use a DOI?
Keywords
double inverted pendulum system, linear quadratic Gauss optimal control, state feedback, Kalmar filtering
Abstract

In order to achieve the stable control for a double inverted pendulum system, linear quadratic Gauss optimal control was applied. Based on separation principle of LQG, firstly, the control law was proposed by the optimal control, and then a state feedback was obtained; whereas, the states of a system can't be measured completely, and the system could be inevitably affected by the a number of noise. For this reason, based on the rule of value of the corresponding parameters, the optimal estimations of the system outputs were received by means of Kalmar filtering. The conclusive experiment shown that the designed controller steadily dominated a double inverted pendulum system, and the system had a good ability of noise abatement and anti-interference.

Copyright
© 2016, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Download article (PDF)

Volume Title
Proceedings of the 2016 International Conference on Automatic Control and Information Engineering
Series
Advances in Engineering Research
Publication Date
October 2016
ISBN
10.2991/icacie-16.2016.20
ISSN
2352-5401
DOI
10.2991/icacie-16.2016.20How to use a DOI?
Copyright
© 2016, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Cite this article

TY  - CONF
AU  - Yi Zheng
AU  - Peisi Zhong
AU  - Qingchao Yue
PY  - 2016/10
DA  - 2016/10
TI  - Double Inverted Pendulum Based on LQG Optimal Control
BT  - Proceedings of the 2016 International Conference on Automatic Control and Information Engineering
PB  - Atlantis Press
SP  - 83
EP  - 87
SN  - 2352-5401
UR  - https://doi.org/10.2991/icacie-16.2016.20
DO  - 10.2991/icacie-16.2016.20
ID  - Zheng2016/10
ER  -