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--- ballandbeam_modelling [2016/07/13 14:59]
joaomatos
+++ ballandbeam_modelling [2016/07/13 15:02] (current)
joaomatos
@@ Line 119: / Line 119: @@
  {{::comparison.jpg?direct|}}
- It's difficult to make a comparison between the PID and LQR control methods , both can be adjusted by hand after the initial guess and can show satisfactory results.However , the main advantage of using LQR on this case is that the energy input can be controlled (at the [R] matrix ). Both methods requires a hand tuning after the initial guess to achieve the desired response.
+ It's difficult to make a comparison between the PID and LQR control methods on this ball and beam case , both can be adjusted by hand after the initial guess and can show satisfactory results.However , the main advantage of using LQR on this case is that the energy input can be controlled (at the [R] matrix ). Both methods requires a hand tuning after the initial guess to achieve the desired response.
+ Usually you will want to use Full State feedback using LQR insted of PID - PID can be limited in some situations. On the Rotary Inverted Pendulum for example  , using only PID Control is not enough to get a good pendulum balance.

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