OPTIMAL STABILIZATION CONTROL OF AN INVERTED PENDULUM WITH A FLYWHEEL. PART 2

摘要

The mathematical model of an inverted pendulum with a flywheel is considered. The complex criterion of optimization and constraints on the control of the motion of the system is substantiated. To solve the problem, the method of dynamic programming is used to reduce the problem to finding the roots of a system of algebraic equations. The roots that ensure the stability of the system are chosen. Thus, the optimal feedback control for the stabilization of the pendulum with flywheel is found. The measured coordinate is the angle of vertical deviation of the pendulum (other phase coordinates can be calculated based on the measured coordinate). A brief comparative analysis of the obtained results showed a significant impact of the weight coefficients of the optimization criterion on the dynamic control.