LQR controller tuning by using particle swarm optimization
LQR is an optimal controller. Optimal in that it is defined so as to provide the smallest possible error to its input. Q and R matrix of LQR usually selected by trial and error. In two wheeled inverted pendulum robot, the most important variable to control is tilt angle. Therefore in this thesis, th...
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| Format: | Thesis |
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2009-11.
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| Online Access: | Get fulltext |