Control of an Inverted Pendulum by a Robot Arm with Rubber Pneumatic Actuators

Abstract

An inverted pendulum is stabilized by a robot arm with rubber pneumatic actuators. The arm is identified as a linear second order system with time lag by the step responses. The pendulum is described by a linearized dynamic model. A digital control law is designed and implemented in a personal computer, which is composed of an LQ optimal state feedback, a minimal-order observer, and a predictor for one sampling period (40 ms) and time lag (80 ms).