Linear quadratic regulator (LQR) controller design for inverted pendulum

• Main Author: Alias, Nor Akmal
• Format: Thesis
• Language: English; English; English
• Published: 2013
• Subjects: TJ Mechanical engineering and machinery; TJ212-225 Control engineering systems. Automatic machinery (General)
• 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/

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...