Flatness and LQR Control of Furuta Pendulum

Authors

  • Novica Daković University of Montenegro
  • Milovan Radulović University of Montenegro

Keywords:

Furuta pendulum, flat output, LQR control, trajectory tracking

Abstract

This paper presents comparison of two control algorithms, Flatness and LQR, which are used to control rotational inverted pendulum, a highly nonlinear and unstable system. Flatness is very effective for nonlinear systems in trajectory tracking tasks. LQR is one of the optimal control techniques, which takes into account the states of the dynamical system and control input to make optimal control decisions. Both algorithms are implemented on the real system under laboratory conditions and obtained results show a comparative advantage of Flatness algorithm in tracking the reference trajectory.

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Published

22.03.2023

Issue

Vol. 21 No. 1 (2015)

Section

Articles

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