Uses local differential flatness to add accelerometer measurements to LQG state estimation for inverted pendulum systems without direct tilt sensing.
Optimal control of nonlinear inverted pendulum system using PID controller and LQR: performance analysis without and with disturbance input
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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.