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Rotary inverted pendulum - using LQR method
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The rotary inverted pendulum system was a highly nonlinear model, multivariable and absolutely unstable dynamic system.
This paper presents hybrid control method for swing up and LQR control method for the stabilization.
The flexibility of the hybrid control method based on the selection of heuristic swing up controller and energy swing up
controller at the different positions of pendulum. The robustness of the LQR 
pthien0288 2016-08-23
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