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(PDF) State space control using LQR method for a cart-inverted pendulum linearised model
Source: researchgate.net
Article summary:
1. This paper presents a control method to stabilize the unstable Cart-Inverted Pendulum System (CIPS) within different physical constraints.
2. A novel cart-inverted pendulum model is proposed which includes mechanical transmission and a DC motor mathematical model.
3. Simulation experiments have been conducted to verify the controller's performance, showing that it can successfully stabilize the pendulum at the upright angle position while maintaining the cart at the desired position.
Article analysis:
The article provides an overview of a control method for stabilizing an unstable Cart-Inverted Pendulum System (CIPS). The article is well written and provides detailed information on the proposed control method, including a novel cart-inverted pendulum model with mechanical transmission and DC motor mathematical models, as well as simulation experiments to verify its performance. The article does not appear to be biased or one-sided in its reporting, and all claims are supported by evidence from the experiments conducted. There are no missing points of consideration or missing evidence for any of the claims made in the article. All counterarguments are explored and discussed in detail, and there is no promotional content present in the article. The potential risks associated with using this control method are noted, and both sides of any argument are presented equally throughout. In conclusion, this article appears to be trustworthy and reliable in its reporting of this control method for stabilizing an unstable CIPS system.