Daniel Soltero - Double Inverted Pendulum

Final Project for the Linear System Analysis class at University of Puerto Rico-Mayaguez. This is an undergraduate course on the ECE Department. Euler-Lagrange equations were used to model the mechanical system. The model was then linearized about its operating point and an LQR controller was designed to maintain the double inverted pendulum in equilibrium.

Category:

Education

Tags:

• double
• inverted
• pendulum
• control
• linear
• LQR