Uses local differential flatness to add accelerometer measurements to LQG state estimation for inverted pendulum systems without direct tilt sensing.
Design and simulation of LQR controller with the linear inverted pendulum
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Inertial-Based LQG Control: A New Look at Inverted Pendulum Stabilization
Uses local differential flatness to add accelerometer measurements to LQG state estimation for inverted pendulum systems without direct tilt sensing.