N. Setiawan, G.N.P. Pratama
The rotational inverted pendulum is an interesting subject for some researchers, especially control engineers. Its nonlinear and underactuated characteristic make it quite challenging to stabilize it. Hence, a proper control law is a must to make it stable. Here, in this paper, we present a control law using LQR (Linear-Quadratic Regulator) to stabilize the rotational inverted pendulum. The experiments are carried out by linearizing the model and simulate the response in MATLAB. The results show that the controller succeeds to stabilize the states of rotational inverted pendulum to their respective equilibrium points. Even more, it provides zero settling errors. © 2021 Institute of Physics Publishing. All rights reserved.
Department of Electrical Engineering Education, Universitas Negeri Yogyakarta, Indonesia; Department of Electronics and Informatics Engineering Education, Universitas Negeri Yogyakarta, Indonesia
