In this paper, based on previous research results and the linear quadratic optimal theory, the improved LQR adaptive controller was designed that can optimize control effect using coordinated factor. The mathematical model of planar double inverted pendulum is established by means of analytical dynamics method, then the optimal controller is presented with LQR theory, and further the output of the LQR adaptive controller is refined through coordinator, which is the function of the states of planar pendulum, and on account of that, control action exerted on the pendulum is improved. Simulation results together with pilot scale experiment in the lab verify the efficacy of the suggested scheme, show that the controller designed to be simple, real-time is good, and can also ensure that the different operating conditions with high control precision, fast response, good stability and robustness.
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