Abstract:

The second order mathematical models of inverted pendulum system are expatiated in this paper based on the theory of LQOC(Linear Quadratic Optimal Control), LQY(Linear-Quadratic Yield) controller and LQR(Linear-Quadratic Regulator) are designed to make the inverted pendulum system closed loop stable. The control process of inverted pendulums are simulated under two controller according to the Matlab 6.5 environment, the result indicates that linear-quadratic yield controller has potential advantages over the LQR.

Key words: inverted pendulums, linear quadratic optimal control(LQOC), linear-quadratic regulator(LQR), linear-quadratic yield(LQY)