Comparación de estrategias de control óptimo y rechazo activo de disturbio en un sistema de péndulo rotacional invertido

Abstract

This undergraduate thesis, developed within the LASER research group at Universidad Distrital Francisco José de Caldas, aims to compare the performance of optimal control strategies applied to a rotational inverted pendulum system, also known as the Furuta pendulum. For this purpose, the Qube Servo 3 equipment from the company QUANSER is used. The project begins with the theoretical study and modeling of the Furuta pendulum, followed by the analysis of the physical system provided by QUANSER. Then, optimal and active disturbance rejection control strategies are designed and simulated to maintain the pendulum in a vertical position: an optimal control with integral action based on a Linear Quadratic Regulator (LQR) and a Kalman filter, as well as an active disturbance rejection strategy using a disturbance estimator. Simulations are carried out in Matlab, and later the controllers are implemented on the real system using Matlab/Simulink. Finally, real-time data is collected to compare the simulated results with those obtained experimentally, allowing for an evaluation of each control strategy’s performance.