OPTIMAL CONTROL OF AN INVERTED PENDULUM USING A DIGITAL DEADBEAT RESPONSE PREDICTION OBSERVER

This paper presents an optimal control algorithm of an inverted pendulum with Linear Quadratic Regulator in which a digital prediction observer with  deadbeat response is used to estimate the unmeasured state variables. Optimal control is a powerful algorithm considers the limitations in state variables and system actuators. The main weak point of optimal control in a practical view is its complete dependence in sense or estimation of state  variables. A digital prediction observer offers the fastest way of estimation of unmeasured state variables in a digitalbased control system. The  successful results of implementing of the proposed algorithm in this paper show the effectiveness of the algorithm..

S. S. Mirsaid Ghazi
Iran University of Science and Technology

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