Performance comparison between LQR and PID controllers for an inverted pendulum system

• Main Authors: Nasir, Ahmad Nor Kasruddin, Ahmad, Mohd. Ashraf, Rahmat, Mohd. Fuaad
• Format: Book Section
• Published: American Institute of Physics 2008
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utm.my/id/eprint/12719/; http://dx.doi.org/10.1063/1.3008655

The objective of this paper is to compare the time specification performance between two conventional controllers 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. The inverted pendulum represents a challenging control problem, which continually moves toward an uncontrolled state. Two controllers are presented such as Linear-Quadratic-Regulator (LQR) and Proportional-Integral-Derivatives (PID) controllers for controlling the linearized system of inverted pendulum model. Simulation study has been done in Matlab simulink environment shows that both controllers are capable to control multi output inverted pendulum system successfully. The result shows that LQR produced better response compared to PID control strategies and is presented in time domain.