Optimal controller design for inverted pendulum system based on LQR method

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

doi:10.1109/ICACCCT.2012.6320782

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 proceeding › Conference contribution

Abstract

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 language	English
Title of host publication	2012 IEEE International Conference on Advanced Communication Control and Computing Technologies (ICACCCT)
Publisher	Institute of Electrical and Electronics Engineers
Pages	259-263
Number of pages	5
ISBN (Electronic)	978-1-4673-2048-1
ISBN (Print)	978-1-4673-2045-0
DOIs	https://doi.org/10.1109/ICACCCT.2012.6320782
Publication status	Published - 23 Aug 2012
Event	2012 IEEE International Conference on Advanced Communication Control and Computing Technologies - Ramanathapuram, India Duration: 23 Aug 2012 → 25 Aug 2012

Conference

Conference	2012 IEEE International Conference on Advanced Communication Control and Computing Technologies
Abbreviated title	ICACCCT 2012
Country/Territory	India
City	Ramanathapuram
Period	23/08/12 → 25/08/12

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10.1109/ICACCCT.2012.6320782Licence: All Rights Reserved

https://ieeexplore.ieee.org/abstract/document/6320782Licence: All Rights Reserved

Cite this

@inproceedings{c86701c703634838a4b650ceedc98124,

title = "Optimal controller design for inverted pendulum system based on LQR method",

abstract = "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.",

author = "Chandan Kumar and Santosh Lal and Nilanjan Patra and Kaushik Halder and Motahar Reza",

year = "2012",

month = aug,

day = "23",

doi = "10.1109/ICACCCT.2012.6320782",

language = "English",

isbn = "978-1-4673-2045-0",

pages = "259--263",

booktitle = "2012 IEEE International Conference on Advanced Communication Control and Computing Technologies (ICACCCT)",

publisher = "Institute of Electrical and Electronics Engineers",

address = "United States",

note = "2012 IEEE International Conference on Advanced Communication Control and Computing Technologies, ICACCCT 2012 ; Conference date: 23-08-2012 Through 25-08-2012",

}

Kumar, C, Lal, S, Patra, N, Halder, K & Reza, M 2012, Optimal controller design for inverted pendulum system based on LQR method. in 2012 IEEE International Conference on Advanced Communication Control and Computing Technologies (ICACCCT). Institute of Electrical and Electronics Engineers, pp. 259-263, 2012 IEEE International Conference on Advanced Communication Control and Computing Technologies, Ramanathapuram, India, 23/08/12. https://doi.org/10.1109/ICACCCT.2012.6320782

Optimal controller design for inverted pendulum system based on LQR method. / Kumar, Chandan; Lal, Santosh; Patra, Nilanjan et al.
2012 IEEE International Conference on Advanced Communication Control and Computing Technologies (ICACCCT). Institute of Electrical and Electronics Engineers, 2012. p. 259-263.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Optimal controller design for inverted pendulum system based on LQR method

AU - Kumar, Chandan

AU - Lal, Santosh

AU - Patra, Nilanjan

AU - Halder, Kaushik

AU - Reza, Motahar

PY - 2012/8/23

Y1 - 2012/8/23

N2 - 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.

AB - 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.

U2 - 10.1109/ICACCCT.2012.6320782

DO - 10.1109/ICACCCT.2012.6320782

M3 - Conference contribution

SN - 978-1-4673-2045-0

SP - 259

EP - 263

BT - 2012 IEEE International Conference on Advanced Communication Control and Computing Technologies (ICACCCT)

PB - Institute of Electrical and Electronics Engineers

T2 - 2012 IEEE International Conference on Advanced Communication Control and Computing Technologies

Y2 - 23 August 2012 through 25 August 2012

ER -

Optimal controller design for inverted pendulum system based on LQR method

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