Adjusting LQG with Noise Signals, PID Controller for Acrobot System

Table 1

Parameters of model.

Parameters and variables	Description
q1	Angle of link 1
q2	Angle of link 2
	Angular velocity of link 1
	Angular velocity of link 2
m1	Mass of link 1
L1	Length of link 1
Lc1	Distance from passive joint to the center of mass of link 1
m2	Mass of link 2
L2	Length of link 2
Lc2	Distance from active joint to the center of mass of link 1
J1	Moment of inertia of link 1
J2	Moment of inertia of link 2
	Gravitational acceleration
	Torque applied to active joint