Abstract: “The conventional inverted pendulum was equipped with potentiometers to measured pendulum angles and cart positions. This paper use a CCD camera combined with image processing to measure feedback signal of rod angles and cart positions. The state space equations of an inverted pendulum and the image processing algorithms are used to design an image-based inverted pendulum controller. Controller parameters are obtained byusing the linear quadratic regulator design and by the calibrations of image processing algorithms. The experimental results verify the proposed image servo controller can control an inverted pendulum in stable.”

Keywords: Inverted Pendulum, Images Servo Controller, Linear Quadratic Regulator(LQR).