도립막대 시스템의 LQ 제어기 설계
Design of a LQ Controller for an Inverted Pole System
An Inverted Pole is one of the control mechanism that has been frequently used to verify a control theory in the laboratory. It consists of a cart which slides on a ground stainless steel shaft. This paper is to design a LQ controller for an inverted pole system which is capable of maintaining the pole at vertical position. In this scheme a mathematical model for the system is obtained in state space representation. Finally the effectiveness of the proposed controller is verified through computer simulation of an inverted pole system.
II. 도립막대 시스템의 모델링
III. LQ 제어기 설계
IV. 모의실험 및 결과 고찰