DOIONLINE 
DOIONLINE Publish In |
International Journal of Mechanical and Production Engineering (IJMPE)-IJMPE |
 Journal Home Volume Issue |
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Issue |
Volume-5,Issue-2 ( Feb, 2017 ) | |||||||||
Paper Title |
Stabilization of Double Inverted Pendulum on Cart: LQR Approach | |||||||||
Author Name |
Naghmehm.Bandari, Amir Hooshiar, Masoudrazban, Javaddargahi, Chun-Yi Su | |||||||||
Affilition |
Department of Mechanical and Industrial Engineering, Concordia University, Montreal, QC, CA | |||||||||
Pages |
144-148 | |||||||||
Abstract |
Parameter identification and optimal control of a double inverted pendulum using LQR approach are presented. The mechanical model of the system was derived by the Lagrangian method, and the parameters were identified via the energetic description of the system. The model of the system was developed and experimental results verified stability and recovery of the system by applying impact disturbance. Keywords: Optimal Control, LQR, Parameter Identification, Double Inverted Pendulum | |||||||||
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