Análise de desempenho de controladores aplicados ao sistema pêndulo invertido

Abstract

The main goal of this paper is to design different topologies of controllers for the inverted pendulum system in order to analyze and compare “their performance”. At first a mathematical modeling of the proposed system is presented taking two situations into account the first one regards a linear model around of one point of operation, which will be studied to be used in two strategies linear modern control, that are control techniques via LMI and LQR; the second situation uses a non-linear model of the proposed system, which will be applied a non -linear technique of control called SMC. Moreover, it will be done a performance analysis concerning the computational complexity that was used in the process to determine the state feedback gain and the efficiency of each controller regarding the proposed requirements for this project. In the end, with the reason to execute the algorithms required by the proposed controllers were used computational tools that are available in MATLAB and, also, its programming language.