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Swing-up and Control of Linear Triple Inverted Pendulum

Swing-up and Control of Linear Triple Inverted Pendulum

Modular inverted pendulum, by default triple, easily adjusted to double or simple one. LQR time-varying controller implemented to 2-DOF control scheme both for the swing-up and stabilization in the upright position. Real setup equipped with a special fast FPGA-based PC with REX Control System. Reference trajectories computed by BvP. Designed ...

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