Abstract
This research a basic well-known hardware, is introduced. The inverse pendulum is the focused in this research. In order to prove the control algorithm LQR with integral action. The dynamic model is obtained by Euler-Lagrange equation. Motor actuator is included in the model in order to get the correct model. The model is linearize by Taylor series expansion. The model parameters are identified by software simulation. The inversed pendulum prototype is manufactured and assembled. The Linear Quadratic Regulator with Integral (LQR+I) controller is presented and applied to control the inverse pendulum. The control simulation and experiment results are present in the performance of this controller
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