Ghediri, AkramLamamra, KheireddineAit Kaki, Abdelaziz2025-04-212025-04-212021http://dspace.univ-oeb.dz:4000/handle/123456789/21964In 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.enOptimal control; Linear quadratic regulator; Computed-torque; Stability; PendulumArticle