Optimal controller design for inverted pendulum system based on LQR method

Chandan Kumar, Santosh Lal, Nilanjan Patra, Kaushik Halder, Motahar Reza

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract / Description of output

This paper proposes design of optimal controller for inverted pendulum system. The main aim is to control angle of the pendulum and position of the cart simultaneously. Jacobian linearization technique has been used to linearize the system. Linear Quadratic Regulator technique is used here to solve the control problem. The solution of the Riccati is obtained by choosing appropriate weight matrix of continuous algebraic Riccati equation (CARE). The proposed controller able to meet the given performance specification minimizing the cost function efficiently. Finally, the performances of the controller have been evaluated with the presence of disturbances and variable initial conditions.
Original languageEnglish
Title of host publication2012 IEEE International Conference on Advanced Communication Control and Computing Technologies (ICACCCT)
PublisherIEEE
Pages259-263
Number of pages5
ISBN (Electronic)978-1-4673-2048-1
ISBN (Print)978-1-4673-2045-0
DOIs
Publication statusPublished - 23 Aug 2012
Event2012 IEEE International Conference on Advanced Communication Control and Computing Technologies - Ramanathapuram, India
Duration: 23 Aug 201225 Aug 2012

Conference

Conference2012 IEEE International Conference on Advanced Communication Control and Computing Technologies
Abbreviated titleICACCCT 2012
Country/TerritoryIndia
CityRamanathapuram
Period23/08/1225/08/12

Fingerprint

Dive into the research topics of 'Optimal controller design for inverted pendulum system based on LQR method'. Together they form a unique fingerprint.

Cite this