LQR Controller Design for Stabilization of Cart Model Inverted Pendulum
Journal: International Journal of Science and Research (IJSR) (Vol.4, No. 7)Publication Date: 2015-07-05
Authors : Shireen S. Sonone; N. V. Patel;
Page : 1172-1176
Keywords : Inverted Pendulum; Nonlinear System; PID Control; Optimal Control; LQR; Disturbance Input;
Abstract
Optimal response of the controlled dynamical systems is desired hence for that is the optimal control. Linear Quadraticn Regulator (LQR), an optimal control method, and PID control which are generally used for control of the linear dynamical systems have been used in this paper to control the nonlinear dynamical system. The inverted pendulum, a highly nonlinear unstable system is used as a benchmark for implementing the control methods. In this paper the modeling and control design of nonlinear inverted pendulum-cart dynamic system with disturbance input using PID control & LQR have been presented. The nonlinear system states are fed to LQR which is designed using linear state-space model. Here PID & LQR control methods have been implemented to control the cart position and stabilize the inverted pendulum in vertically uprightposition. The MATLAB-SIMULINK models have been developed for simulation of the control schemes. The simulation results justify the comparative advantages of LQR control methods.
Other Latest Articles
- Contemporary Treatment of Parkinsons Disease
- Detection of Rhinovirus and Some DNA/RNA Viruses using Multiplex-Real-time PCR and both of Complement (C3) Level and Rhinovirus-Ag in Patients with Acute Respiratory Tract Infection: Molecular and Immunological Study
- FPGA Implementation of Runway Extraction using Image Fusion Method
- A Brief Overview of Satellite Image Resolution Enhancement
- AES Algorithm on FPGA based Image Encryption and Decryption
Last modified: 2021-06-30 21:50:52