Stability Control of TORA Based on LQR Controller

An under-actuated translational oscillator with rotating actuator is a typical under-actuated system. Based on Lagrange equation for mechanical control system, the dynamic model is derived for TORA. And then the characteristics of controllability and observability of the system are analyzed. A LQR controller is designed for stabilizing the system. The system simulation experiments verify that the controller can make the system to reach steady state and effectively decrease vibration of the system in a short time.