Design and implementation of LQR controller for inverted pendulum by use of REX control system

The paper deals with design and implementation of LQR controller for physical model of inverted pendulum. It presents derivation of the full nonlinear mathematical model, its linearization leading to linear state-space description. The mathematical model is then used for design of LQR controller using Matlab. The control scheme is implemented in PAC (programmable automation controller) WinPAC-8000 with the use of REX Control System.