An experimental analysis for LQR self-adjusting based control of an inverted pendulum controlled by C2000 microprocessor

Abstract: 841 | PDF: 423

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Author

  • Ba Hoa Thai
    The University of Danang - University of Science and Technology
    Huyen Trang Ton Nu
    The University of Danang - University of Science and Technology
    Anh-Duc Pham
    The University of Danang - University of Science and Technology
    Hoai Nam Le
    The University of Danang - University of Science and Technology

Keywords:

Dynamics model
Planar inverted pendulum
Linear Quadratic Regulator (LQR)
C2000 microprocessor

Abstract

The Planar inverted pendulum is a typical model for a system having an arm directly attached to a cart moving on a rail system along a fixed distance. This is also a model widely used in universities around the world for research and teaching. In this study, the authors introduce details to build and experiment with an inverted pendulum controlled by Texas Instrument’s C2000 microprocessor. Firstly, a dynamic model of the system is established. Next, the control parameters corresponding to the specific structure of the model are described. Then, the experimental results of the Swing-up term and balancing pendulum process are analyzed.

References

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Published

Jul 31, 2022
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How to Cite
Thái Bá Hòa, Tôn Nữ Huyền Trang, Phạm Anh Đức, and Lê Hoài Nam. “An Experimental Analysis for LQR Self-Adjusting Based Control of an Inverted Pendulum Controlled by C2000 Microprocessor”. The University of Danang - Journal of Science and Technology, vol. 20, no. 7, July 2022, pp. 25-28, https://jst-ud.vn/jst-ud/article/view/7827.

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