(University of Oum El Bouaghi, 2021) Ghediri, Akram; Lamamra, Kheireddine; Ait Kaki, Abdelaziz
In this paper, the trajectory tracking control of an actuated pendulum with friction using LQ-based computed-torque controller is studied. The control scheme consists of feedback linearization loop to cancel nonlinear dynamics and LQ as outer-loop controller. The dynamic model is developed
using Euler-Lagrange formulation and the stability behavior is analyzed for both open and closed-loop system. Simulation result show that LQ-based computed-torque controller is effective in terms of computing optimal feedback gains that minimize the position and velocity tracking errors.