Modeling. Parameterization, and State Feedback Control of a Furuta Pendulum

This article presents a Furuta pendulum as a test bed to experimentally validate a state feedback control with input constraints, which is designed with basis on the quadratic Lyapunov function. The mathematical model of the Furuta pendulum is derived using the Euler-Lagrange formulation. Unknown parameters are estimated using data obtained from open-loop experiments. The system is linearized for controller design, and Linear Matrix Inequalities (LMIs) are developed to compute the gains, considering an input voltage constraint of up to 12 V.