Control of inverted pendulum
13 views (last 30 days)
I'm playing with the Inverted Pendulum example : openExample('simulink_general/penddemoExample') in Command Window. I'm trying to understand which control theory stays behind the state space estimator and the choice of LQR parameters.
I don't find anything similar in literature, can anyone help me, please?
M on 18 Nov 2019
I don't find anything similar in literature
LQR algorithm with state estimator is very common and you can find plenty of examples in the literature.
In the simulink example, the state space estimator is implemented with a discrete time state space equation:
And the LQR block is simply a matrix gain. You can find details about lqr in matlab here: