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State feedback control of a rotary inverted pendulum

Research output: Chapter in Book/Report/Conference proceedingConference contributionProfessional


Original languageEnglish
Title of host publicationAutomaatiopäivät 23
Subtitle of host publication15-16.5.2019, Oulu
EditorsEsko Juuso
Place of PublicationOulu
PublisherSuomen Automaatioseura
Number of pages8
ISBN (Print)13 978–952-5183-54-2
Publication statusPublished - 15 May 2019
Publication typeD3 Professional conference proceedings
EventAutomaatiopäivät -
Duration: 20 Aug 2019 → …


Period20/08/19 → …


In this paper, we design a state feedback
controller for a rotary inverted pendulum, which is
mounted to a Quanser QUBE-Servo 2 unit. To be
more specific, we use linear quadratic regulator to find
suitable controller gains for QUBE-Servo 2 system.
The essential characteristics of the QUBE-Servo 2 unit
are presented and the performances of the closed-loop
systems are evaluated based on rise time, settling time
and overshoot of the rotary arm’s step response. The
design is validated using simulations and real-time
experiments. The resulting controller stabilizes the
rotary pendulum to upright position and is able to move
the pendulum to desired angular position while keeping
the balance under control.


  • LQR-control, Pole-placement, Inverted pendulum, Balance control, Reference tracking

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