Technical Reviews IKEERPT-2016-005

Title:Balancing a double inverted pendulum using optimal control and Laguerre functions
Authors:Moysis Lazaros
Department: Αριστοτέλειο Πανεπιστήμιο Θεσσαλονίκης, Σχολή Θετικών Επιστημών, Τμήμα Μαθηματικών
Publ. Date:2016
Abstract:The problem of stabilization of a double inverted pendulum mounted on a cart is presented. This highly unstable sy stem is linearized around its equilibrium and then is kept in an upright position using two different methods. First through lqr control and secondly using Laguerre functions. The system is simulated in Matlab.
Subject:Automation and Control Systems
Keywords:Control systems, mpc, Inverted pendulum, Laguerre, lqr, Double pendulum, Automatic control, Matlab, Optimal control, Model predictive control
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 Record created 2016-04-26, last modified 2016-04-26

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