Eventos Anais de eventos
CONEM 2018
X Congresso Nacional de Engenharia Mecânica
SDRE control applied on a nonlinear inverted pendulum system on a movable platform
Submission Author:
Cinara Prestes Lima , PR , Brazil
Co-Authors:
Cinara Prestes Lima, Angelo Marcelo Tusset, Alexandre de Castro Alves, Frederic Conrad Janzen, Rodrigo Tumolin Rocha, José Manoel Balthazar
Presenter: Angelo Marcelo Tusset
doi://10.26678/ABCM.CONEM2018.CON18-1187
Abstract
This paper presents the LQR and SDRE controls application in the inverted pendulum on a movable platform control. The proposed controls have the objective to control the pendulum angle and the platform position considering the nonlinear system mathematical model. From the results, it was possible to verify that the linear control (LQR) was not able to control the nonlinear system. The SDRE control efficiently controlled the nonlinear system and proved to be robust to the parametric variations.
Keywords
Inverted pendulum, nonlinear system, LQR, SDRE, parametric variation
