Linear Quadratic Regulator Control of Rotary Inverted Pendulum Using Elvis III Embedded Platform
Modern education is characterized by diversity and the need for extensibility. Educational experimental platforms are rapidly evolving according to these factors. However, software and hardware are provided by major domestic manufacturers, which imposes limitations on the development of teaching mat...
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MDPI AG
2025-05-01
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| Series: | Engineering Proceedings |
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| author | Ming-Hung Lin Jun-Qi Huang Yao-Hung Tsai Chun-Chieh Chang Cheng-Yi Chen |
| author_facet | Ming-Hung Lin Jun-Qi Huang Yao-Hung Tsai Chun-Chieh Chang Cheng-Yi Chen |
| author_sort | Ming-Hung Lin |
| collection | DOAJ |
| description | Modern education is characterized by diversity and the need for extensibility. Educational experimental platforms are rapidly evolving according to these factors. However, software and hardware are provided by major domestic manufacturers, which imposes limitations on the development of teaching materials. We investigate the implementation of a rotational inverted pendulum control system within the NI ELVIS III embedded system. The mathematical model of the rotational inverted pendulum is constructed using Lagrangian equations and then represented in matrix form. Following linearization of the nonlinear state equations, the linear quadratic regulator (LQR) controller of the rotational inverted pendulum apparatus is designed and implemented on the NI ELVIS III embedded system by using LabVIEW graphical programming software. Illustrations are generated to compare the continuous tracking performance of LQR and PID controllers with preset target values. The results are then analyzed to evaluate and contrast the effectiveness of both control strategies in tracking the target values. The findings of this study enhance the development of educational content related to the ELVIS III embedded system’s experimental platform. |
| format | Article |
| id | doaj-art-8db1e55a8bed4a79b87e735f00fecdb6 |
| institution | Kabale University |
| issn | 2673-4591 |
| language | English |
| publishDate | 2025-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Engineering Proceedings |
| spelling | doaj-art-8db1e55a8bed4a79b87e735f00fecdb62025-08-20T03:27:26ZengMDPI AGEngineering Proceedings2673-45912025-05-019214610.3390/engproc2025092046Linear Quadratic Regulator Control of Rotary Inverted Pendulum Using Elvis III Embedded PlatformMing-Hung Lin0Jun-Qi Huang1Yao-Hung Tsai2Chun-Chieh Chang3Cheng-Yi Chen4Department of Electrical Engineering, Cheng Shiu University, Kaohsiung 833301, TaiwanDepartment of Mechanical Engineering, National Kaohsiung University of Science and Technology, Kaohsiung 807618, TaiwanDepartment of Electrical Engineering, Cheng Shiu University, Kaohsiung 833301, TaiwanDepartment of Electrical Engineering, Cheng Shiu University, Kaohsiung 833301, TaiwanDepartment of Electrical Engineering, Cheng Shiu University, Kaohsiung 833301, TaiwanModern education is characterized by diversity and the need for extensibility. Educational experimental platforms are rapidly evolving according to these factors. However, software and hardware are provided by major domestic manufacturers, which imposes limitations on the development of teaching materials. We investigate the implementation of a rotational inverted pendulum control system within the NI ELVIS III embedded system. The mathematical model of the rotational inverted pendulum is constructed using Lagrangian equations and then represented in matrix form. Following linearization of the nonlinear state equations, the linear quadratic regulator (LQR) controller of the rotational inverted pendulum apparatus is designed and implemented on the NI ELVIS III embedded system by using LabVIEW graphical programming software. Illustrations are generated to compare the continuous tracking performance of LQR and PID controllers with preset target values. The results are then analyzed to evaluate and contrast the effectiveness of both control strategies in tracking the target values. The findings of this study enhance the development of educational content related to the ELVIS III embedded system’s experimental platform.https://www.mdpi.com/2673-4591/92/1/46rotary inverted pendulumLagrangian equationlinear quadratic regulatorembedded system |
| spellingShingle | Ming-Hung Lin Jun-Qi Huang Yao-Hung Tsai Chun-Chieh Chang Cheng-Yi Chen Linear Quadratic Regulator Control of Rotary Inverted Pendulum Using Elvis III Embedded Platform Engineering Proceedings rotary inverted pendulum Lagrangian equation linear quadratic regulator embedded system |
| title | Linear Quadratic Regulator Control of Rotary Inverted Pendulum Using Elvis III Embedded Platform |
| title_full | Linear Quadratic Regulator Control of Rotary Inverted Pendulum Using Elvis III Embedded Platform |
| title_fullStr | Linear Quadratic Regulator Control of Rotary Inverted Pendulum Using Elvis III Embedded Platform |
| title_full_unstemmed | Linear Quadratic Regulator Control of Rotary Inverted Pendulum Using Elvis III Embedded Platform |
| title_short | Linear Quadratic Regulator Control of Rotary Inverted Pendulum Using Elvis III Embedded Platform |
| title_sort | linear quadratic regulator control of rotary inverted pendulum using elvis iii embedded platform |
| topic | rotary inverted pendulum Lagrangian equation linear quadratic regulator embedded system |
| url | https://www.mdpi.com/2673-4591/92/1/46 |
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