피드백 선형화 기법을 적용한 도립진자 제어 구현 및 근사 선형화 기반 제어 방법과의 비교

Abstract

This paper proposes the implementation of model-based position control of an inverted pendulum through feedback linearization. A conventionally used control method based on linear approximation near the operating point has the advantage of being simple to implement, but the system may become unstable if it deviated greatly from the operating point. Therefore, by applying feedback linearization, the BLDC motor – inverted pendulum system was linearized into a second-order critical damped system with the bandwidth of the actuator. After that, the LQ state feedback controller was applied to the converted linear system to track the reference and to respond to disturbances