Modular inverted pendulum, by default triple, easily adjusted to double or simple one. LQR time-varying controller implemented to 2-DOF control scheme both for the swing-up and stabilization in the upright position. Real setup equipped with a special fast FPGA-based PC with REX Control System. Reference trajectories computed by BvP. Designed due to cooperation between VSB-TUO, Department of Cybernetics and Biomedical Engineering. Powered by REXYGEN ([ Ссылка ])
Public version of the paper "Closed-loop Swing-up and Stabilization of Inverted Pendulum by Finite-horizon LQR Applied in 2-DOF Concept": [ Ссылка ]
or [ Ссылка ].
Reference to my webpage: [ Ссылка ]

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