LQR Control for Double-Linked Rotary Inverted Pendulum: Simulation and Experiment

Xuan-Dung Huynh1, Van-Dong-Hai Nguyen2*, Thi-Hong-Lam Le2, Thi-Thanh-Hoang Le2, Tu-Duc Nguyen2, Dung-Thien Nguyen2, Duy-Bao Hoang2, Minh-Hanh Pham2

1Cao Thang College
Huynh Thuc Khang street, No. 65, Ho Chi Minh city, Vietnam
2Ho Chi Minh city University of Technology and Education (HCMUTE)
Vo Van Ngan Sreet, No. 01, Ho Chi Minh city, Vietnam
* Corresponding author. E-mail: hainvd@hcmute.edu.vn

Robotica & Management, Vol. 27, No. 1, pp. 09-13
DOI: https://doi.org/10.24193/rm.2022.1.2

Abstract: Double-linked rotary inverted pendulum is a developed structure of single-linked rotary inverted pendulum. Due to its high-order SIMO structure, it is a big challenge to operate this model on experiment. In this paper, we present an experimental double-linked rotary inverted pendulum that is constructed in our laboratory. A classical linear method – LQR – is used to control well this model in simulation. In experiment, we have stabilized this model for two seconds. Thence, our research contributes experimental results to confirm the ability of LQR for this kind of real model in stabilizing it in equilibrium point.

Keywords: LQR; double-linked; rotary inverted pendulum; SIMO structure.

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