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Ahmad Samiee


This paper introduces a comparison between two optimal controllers on a flywheel-based inverted pendulum. Inverted pendulums have an essential place in developing under-actuation nonlinear control schemes due to their nonlinear structure. This system is a basic structure for many advanced systems such as biped and mobile wheeled robots. Optimal controllers addressed in this paper consist of State-Dependent Riccati Equation (SDRE) and Linear Quadratic Regulator (LQR). A Proportional–Integral–Derivative controller (PID) is also designed and tested in the simulation. One axis self-balancing flywheel based inverted pendulum system is designed to validate the controllers' performance on an experimental setup.

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Mechanical Engineering