DocumentCode
2047068
Title
LQR control for stabilizing triple link inverted pendulum system
Author
Sehgal, S. ; Tiwari, Sunita
Author_Institution
Dept. of Instrum. & Control Eng., Dr. B.R. Ambedkar Nat. Inst. of Technol., Jalandhar, India
fYear
2012
fDate
17-19 Dec. 2012
Firstpage
1
Lastpage
5
Abstract
This paper presents the model of car triple inverted pendulum system using Lagrange equation in detail. This model is then linearized to design an LQR controller to maintain the triple inverted pendulum on a cart around its unstable equilibrium position using single control input. The controllability of the triple inverted pendulum system is investigated and the choice of weights in LQR is also discussed. The system is simulated in MATLAB environment and the simulation results establish the satisfactory performance of the LQR controller in stabilizing the system.
Keywords
control system synthesis; controllability; linear quadratic control; nonlinear control systems; pendulums; stability; LQR controller design; Matlab environment; car triple inverted pendulum system; control input; controllability; equilibrium position; linear quadratic regression control; stability; Linear Quadratic Regulator; Triple Inverted Pendulum System; state feedback;
fLanguage
English
Publisher
ieee
Conference_Titel
Power, Control and Embedded Systems (ICPCES), 2012 2nd International Conference on
Conference_Location
Allahabad
Print_ISBN
978-1-4673-1047-5
Type
conf
DOI
10.1109/ICPCES.2012.6508052
Filename
6508052
Link To Document