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LQR/PID Controller Design of PLC-based Inverted Pendulum

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Figure

Fig. 2.The interaction between the PLC and the servo motors for theinverted pendulum system
Fig. 4.Defining the pendulum regions with θ = 0◦ as reference
Fig. 7.The simulated control response with Kdesign of Equation (34)
Fig. 8.The angle error responses from implementing the controller ofEquation (36) onto the apparatus of Figure 1.

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