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The cart-pole inverted pendulum system is a nonlinear system, its used in University Laboratory School in the world, aimed to give students to research and test control
algorithms of classical control theory to modern control theory. In this paper the authors tests input – output linearization control method with SIMO system for the cart - pole inverted pendulum combined with state feedback control by LQR
controllers (Linear Quadratic Regulator) to bring the system to equilibrium position x= 0, θ = 0. Mathematical model of the inverted pendulum car is based on the dynamical equations and Laplace transform, simulation on Matlab & Simulink software. This model is used to simulate the balance of cart-pole inverted pendulum by input-output linearization method with law of optimal LQR controllers (Linear Quadratic Regulator).

Từ khóa: Inverted pendulum; Nonlinear unstable systems; Swing-up control; Partial-state'feedback.

7 p ovanketv4 16/06/2017 581 15

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