OPTIMAL CONTROL OF AN INVERTED PENDULUM USING A DIGITAL DEADBEAT RESPONSE PREDICTION OBSERVER

This paper presents an optimal control algorithm of an inverted pendulum with Linear Quadratic Regulator in which a digital prediction observer with deadbeat response is used to estimate the unmeasured state variables. Optimal control is a powerful algorithm considers the limitations in state variables and system actuators. The main weak point of optimal control in a practical view is its complete dependence in sense or estimation of state variables. A digital prediction observer offers the fastest way of estimation of unmeasured state variables in a digitalbased control system. The successful results of implementing of the proposed algorithm in this paper show the effectiveness of the algorithm..

Keywords:

Deadbeat response , Digital observer , Inverted Pendulum (IP) , Optimal Control