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Ahmad Samiee - Mechanical Engineering Department, Azad University Science and Research Branch, Tehran, Iran
This paper introduces a comparison between two optimal controllers on aflywheel-based inverted pendulum. Inverted pendulums have an essentialplace in developing under-actuation nonlinear control schemes due to theirnonlinear structure. This system is a basic structure for many advancedsystems such as biped and mobile wheeled robots. Optimal controllersaddressed in this paper consist of State-Dependent Riccati Equation (SDRE)and Linear Quadratic Regulator (LQR). A Proportional–Integral–Derivativecontroller (PID) is also designed and tested in the simulation. One axis selfbalancingflywheel based inverted pendulum system is designed to validate thecontrollers' performance on an experimental setup.
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Samiee، Ahmad،1398،Optimal Control Comparisons on a Flywheel Based Inverted Pendulum،https://civilica.com/doc/1352009