UC San Diego

This study aims at designing a controller that can stabilize a single inverted pendulum system using velocity feedback alone.

A state-space model for the EduMIP inverted pendulum system is obtained through dynamic analysis using a Lagrangian method. System identification experiments are proposed and performed to identify the parameters of the model. Based on the identified model, an LQG controller, which is a combination of optimal estimation and optimal control, is designed and implemented that can successfully stabilize EduMIP. At last, few tests are carried out to evaluate the performance of the controller, showing how the proposed LQG controller outperforms classical controller in many aspects.