DESIGNING A CONTROL SYSTEM BY THE VERTICAL POSITION OF THE ROD INSTALLED ON A MOBILE PLATFORM

M.K. DARAKHCHYAN; L.M.  BUNIATYAN; H.G.  DARBINYAN; S.A. MNATSAKANYAN

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M.K. DARAKHCHYAN National Polytechnic University of Armenia Author
L.M. BUNIATYAN National Polytechnic University of Armenia Author
H.G. DARBINYAN National Polytechnic University of Armenia Author
S.A. MNATSAKANYAN National Polytechnic University of Armenia Author

Keywords:

control system, inverted pendulum, manipulator,, controller, state space

Abstract

The QUBE-Servo 2 system has been studied to maintain the vertically balanced state of a rod mounted on a manipulator, at that ensuring the specified position of the manipulator. The coefficients of the LQR controller have been calculated, and with the help of a Simulink model, the control of the balanced position of the inverted pendulum has been implemented.

DESIGNING A CONTROL SYSTEM BY THE VERTICAL POSITION OF THE ROD INSTALLED ON A MOBILE PLATFORM

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