Uses local differential flatness to add accelerometer measurements to LQG state estimation for inverted pendulum systems without direct tilt sensing.
Per- formance comparison between LQR and PID controllers for an inverted pendulum system
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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.