About this document
Control of Cart-Pendulum System by vayalo is a document available to read on EtoBox.
This document describes the simulation of an inverted pendulum system using state space models and linear quadratic regulator (LQR) control. It contains the system matrices F, G, Q, and R used in a dlqr controller design. It then simulates the closed loop system response using dlsim and plots the cart position and pendulum angle over time. It also plots the cart position vs pendulum angle phase plane. Finally, it describes designing a reduced order observer to estimate the pendulum angle and cart velocity f
- Author
- vayalo
- Language
- EN