University of Notre Dame
Aerospace and Mechanical Engineering

ME 698: Geometric Nonlinear Control
Homework 5

B. Goodwine
Fall, 1999
Issued: September 27, 1999
Due: September 30, 1999

Using Matlab, if you wish, design 5 LQR controllers for the inverted pendulum problem from Homework 3. Similar to what Neil demonstrated in class, for each of the different controllers, assign different relative weightings in the Q and R matrices in the performance index. Submit plots which demonstrate and compare the effects on controller performance of the different weightings in the performance index.



The music of the heavens being eternal, Leonardo understood that friction is absent from the state of grace. Thus confined to this mortal world, friction is a consequence of original sin.

--- Brian Armstrong-Helouvry, Control of Machines with Friction.


Last updated: September 27, 1999.
B. Goodwine (jgoodwin@nd.edu)