Modelling and controller design for a five-link inverted pendulum

Yarong  Zhou; Parijat Bhowmick; Ying Fu; Ye Li; Alexander Lanzon

Modelling and controller design for a five-link inverted pendulum

Yarong Zhou, Parijat Bhowmick, Ying Fu, Ye Li, Alexander Lanzon

EEE - Academic & Research

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

The inverted pendulum is a fast-moving, highly nonlinear and unstable system with multiple variables and nonminimum phase that requires effective stabilization controllers. Therefore, studies into inverted pendulum systems theoretically and practically have great significance. The Euler-Lagrange Equation is used to calculate the mathematical model for a five-link inverted pendulum system. Linear Quadratic Gaussian (LQG) and H∞ are implemented using the developed model, with the Kalman Filter serving as the observer. The closed-loop system are simulated by the Matlab-Simscape platform and the controller are evaluated in relation to the system performance.

Original language	English
Title of host publication	Proceedings of the 23rd IEEE International Conference on Industrial Technology, Shanghai, China, Aug 2022
Publication status	Accepted/In press - 31 Mar 2022

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icit-22_Zhou-Bhowmick-Fu-Li-Lanzon
Accepted author manuscript, 613 KB
Embargo ends: 1/01/32

Cite this

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title = "Modelling and controller design for a five-link inverted pendulum",

abstract = "The inverted pendulum is a fast-moving, highly nonlinear and unstable system with multiple variables and nonminimum phase that requires effective stabilization controllers. Therefore, studies into inverted pendulum systems theoretically and practically have great significance. The Euler-Lagrange Equation is used to calculate the mathematical model for a five-link inverted pendulum system. Linear Quadratic Gaussian (LQG) and H∞ are implemented using the developed model, with the Kalman Filter serving as the observer. The closed-loop system are simulated by the Matlab-Simscape platform and the controller are evaluated in relation to the system performance.",

author = "Yarong Zhou and Parijat Bhowmick and Ying Fu and Ye Li and Alexander Lanzon",

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language = "English",

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T1 - Modelling and controller design for a five-link inverted pendulum

AU - Zhou, Yarong

AU - Bhowmick, Parijat

AU - Fu, Ying

AU - Li, Ye

AU - Lanzon, Alexander

PY - 2022/3/31

Y1 - 2022/3/31

N2 - The inverted pendulum is a fast-moving, highly nonlinear and unstable system with multiple variables and nonminimum phase that requires effective stabilization controllers. Therefore, studies into inverted pendulum systems theoretically and practically have great significance. The Euler-Lagrange Equation is used to calculate the mathematical model for a five-link inverted pendulum system. Linear Quadratic Gaussian (LQG) and H∞ are implemented using the developed model, with the Kalman Filter serving as the observer. The closed-loop system are simulated by the Matlab-Simscape platform and the controller are evaluated in relation to the system performance.

AB - The inverted pendulum is a fast-moving, highly nonlinear and unstable system with multiple variables and nonminimum phase that requires effective stabilization controllers. Therefore, studies into inverted pendulum systems theoretically and practically have great significance. The Euler-Lagrange Equation is used to calculate the mathematical model for a five-link inverted pendulum system. Linear Quadratic Gaussian (LQG) and H∞ are implemented using the developed model, with the Kalman Filter serving as the observer. The closed-loop system are simulated by the Matlab-Simscape platform and the controller are evaluated in relation to the system performance.

M3 - Conference contribution

BT - Proceedings of the 23rd IEEE International Conference on Industrial Technology, Shanghai, China, Aug 2022

ER -

Modelling and controller design for a five-link inverted pendulum

Abstract

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