In this paper an inverted pendulum is modeled firstly by using Euler – Lagrange energy equation
for stabilization of the pendulum. To control the modeled system, both full-state feedback and Linear
Quadratic Regulator controller methods are applied and the results are compared. After that, a precompensator
is implemented to eliminate the steady-state error. Linear Quadratic Regulator is an optimal
technique of pole placement method which defines the optimal pole location based on a definite cost
function. The investigated system develops classical inverted pendulum by forming two moving masses. The
motion of two masses in the pendulum which slide along the horizontal plane is controllable.
کلید واژگان :
State feedback control, Linear Quadratic Regulator control, Inverted pendulum, Mathematical modeling, pre-compensator
