Control of an inverted pendulum using MODE-based optimized LQR controller
This paper presents an evolutionary optimization based LQR controller design for an inverted pendulum system. The objective is to address the challenges of appropriate design parameters selection in LQR controller while providing optimal performance compromise between the system control objectiv...
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| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2013
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/42124/1/iciea2013tijani.pdf http://irep.iium.edu.my/42124/ http://dx.doi.org/10.1109/ICIEA.2013.6566653 |
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| Summary: | This paper presents an evolutionary optimization
based LQR controller design for an inverted pendulum system.
The objective is to address the challenges of appropriate design
parameters selection in LQR controller while providing optimal
performance compromise between the system control objectives
with respect to pendulum angle and position response. Hence, a
Multiobjective differential evolution algorithm is proposed to
design an LQR controller with optimal compromise between the
conflicting control objectives. The performance of the MODEbased
LQR is benchmarked with an existing controller from the
system manufacturer (QANSER). The performance shows the
effectiveness of the proposed design algorithm, and in addition
provides an efficient solution to conventional trial and error
design approach. |
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