CONTROLE ÓTIMO DO SISTEMA PÊNDULO INVERTIDO

Abstract

This article deals with the importance of the useof differential equations that represent the system dynamicsin computer simulations and also carrying laboratoryexperiment with real systems, contributing to the learningand testing of control techniques developed byundergraduate students and graduation. This paper presentsthe inverted pendulum system used in laboratories toperform experiments and also its non-linear differentialequations that represent its dynamics. To control theinverted pendulum system, both in simulation and inexperiment, it uses a state feedback control, which in itsproject considers the minimization of a quadraticperformance index. Experimental results and computersimulations are presented for comparison.Index Terms ⎯ Inverted pendulum system, state feedback,minimization of a quadratic index, linear-quadraticregulator.