The inverted pendulum system is one of the most widely-used experimental devices to verify the effectiveness of various control algorithms in the field of control engineering.
Despite being an unstable system, the inverted pendulum system is a very interesting control object with satisfactory controllability and observability that can be stabilized by one control variable.
Pak Se Yang, a researcher at the Science Engineering Institute, has designed a linear control system for the stabilization control of a flywheel inverted pendulum and applied it to an experimental device to evaluate its effectiveness.
First, he analytically derived the mathematical model of a flywheel inverted pendulum system and experimentally determined the parameter values of the model.
Next, he designed an augmented linear quadratic optimal controller as a robust controller considering the uncertainty of the model parameters and verified its control performance through semi-physical simulations. He designed a prototype experimental system and implemented a control program to experimentally verify that the theoretically designed control system actually stabilizes the system.