Linear quadratic regulator (LQR) controller design for inverted pendulum
The Inverted Pendulum System is an under actuated, unstable and nonlinear system. The challenge of this project is to keep the inverted pendulum balanced and track the linear cart to a commanded position. This project presents investigations of performance comparison between conventional Proporti...
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| Format: | Thesis |
| Language: | English English English |
| Published: |
2013
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| Subjects: | |
| Online Access: | http://eprints.uthm.edu.my/6714/1/24p%20NOR%20AKMAL%20ALIAS.pdf http://eprints.uthm.edu.my/6714/4/NOR%20AKMAL%20ALIAS%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/6714/3/NOR%20AKMAL%20ALIAS%20WATERMARK.pdf http://eprints.uthm.edu.my/6714/ |
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| Summary: | The Inverted Pendulum System is an under actuated, unstable and nonlinear
system. The challenge of this project is to keep the inverted pendulum balanced and
track the linear cart to a commanded position. This project presents investigations of
performance comparison between conventional Proportional Integral Derivatives
(PID) and modern control Linear Quadratic Regulator (LQR) schemes for an
inverted pendulum system. The goal is to determine which control strategy delivers
better performance with respect to pendulum’s angle and cart’s position. LQR
algorithm needed to compute what the steady-state value of the states should be by
multiply that by the chosen gain K, and a new value as the reference is used for
computing the input. Gain k is the state feedback gain matrix, so the system becomes
a closed loop control system. The LQR should produce a better response compared
to PID control strategies in both discrete time and continuous time control. |
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