A study of stabilization quanser linear inverted pendulum with MATLAB Simulink

Inverted pendulum is a classical topic in control study. It is considered to be a good practice choice in studying stabilization control. The objective of this study is to balance the inverted vertical position of a pendulum. The pendulum can rotate about a point residing on a cart which can move linearly horizontally. Using Linear Quadratic Regulator methods, this research aims to determine the suitable state feedback controller. The experiment used the Quanser Linear Inverted Pendulum platform and MATLAB Simulink 2018A to gather the data. The feedback gain controller value was found to be K=[ -50.0 115.8391 -41.2611 21.5454] and compared between the simulation and the real-time data. With the feedback controller, the pendulum was balanced in the vertical inverted position by controlling the cart's movement.