Development of Inverted Pendulum System at KMITL

Abstract

This paper presents the development of Inverted Pendulum System at King Mongkut's Institute of Technology Ladkrabang (KMITL), including the designing, construction and control system design. The stabilizing of an unstable system in optimal control scheme via state-space approach is applied. The LQG controller design examples including the addition of the quadratic derivatives of state variables term in the usual standard performance index for linear quadratic Gaussian optimal control as an extra weighting function to play the role in swing suppressor is presented. Finally, a new inverted pendulum system nearly SEGWAY function is shown in this paper.