Volume:
Volume 10 Abstract
This paper presents a control concept of a of pendubot laboratory model, which is a two-link under-actuated robotic mechanism. A method for obtaining a mathematical model for the pendubot is presented here. Furthermore this mathematical model is used for LQ control synthesis. The inverted pendulum problem is well suited for education in control theory as well as for research in control of nonlinear mechatronic systems with fast dynamics.
