Inverted pendulum (LQR control project)

In this project, I created a control system that can balance a pendulum upside-down (inverted). I was inspired to create this project because I'm currently taking a class called Optimal Control (ASE 381P-3; Dr. Bakolas) as a part of my master's degree program in aerospace engineering at UT Austin. The system uses an LQR controller written in python. The linear actuator is controlled via an Arduino Uno with a microstep driver. An AS5600 magnetic encoder records the angular position of the pendulum.

See my code, CAD files, and notes for this project on my github page:
https://github.com/nathanscharfe/pendulum

I started this project one week ago today and was able to get the controller working this morning. It helped that I already had almost all of the hardware I needed for this project and I was able to rapidly 3D print many parts I needed for mounting the pendulum and encoder on the actuator. Future work could include fine-tuning the parameters to more quickly come to rest and trying to keep the linear stage closer to the center of the actuator.

Видео Inverted pendulum (LQR control project) канала Nathan Scharfe