Abstract

In this study, we propose using feedback control techniques for learning and educative purposes on the line of Electronic Engineering for undergraduate degrees. The main objective is that the student manages to control the inverted double pendulum to leave it at a certain equilibrium point. The methods addressed are space state representations, linearization, control by LQR, Kalman observer, and discretization. As a case study for applying these methods, we choose the stabilization of an inverted double pendulum. The expected result is a discretized model with a sampling time able to stabilize the inverted double pendulum in the erect equilibrium state. Therefore, this result also shows the student's understanding of control techniques.