WASET
	%0 Journal Article
	%A N. M. Singh and  Jayant Dubey and  Ghanshyam Laddha
	%D 2008
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 17, 2008
	%T Control of Pendulum on a Cart with State Dependent Riccati Equations
	%U https://publications.waset.org/pdf/1812
	%V 17
	%X State Dependent Riccati Equation (SDRE) approach is
a modification of the well studied LQR method. It has the capability of being applied to control nonlinear systems. In this paper the technique
has been applied to control the single inverted pendulum (SIP) which represents a rich class of nonlinear underactuated systems. SIP
modeling is based on Euler-Lagrange equations. A procedure is developed
for judicious selection of weighting parameters and constraint handling. The controller designed by SDRE technique here gives better results than existing controllers designed by energy based techniques.
	%P 759 - 763