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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...
7 p hcmute 16/06/2017 645 15
Từ khóa: Inverted pendulum; Nonlinear unstable systems; Swing-up control; Partial-state'feedback.