Title :
Investigation of optimal control approaches for inverted pendulum
Author :
Jha, S.K. ; Yadav, A.K. ; Gaur, Prerna
Author_Institution :
Div. of ICE, NSIT, New Delhi, India
Abstract :
The main objective of the present work is to investigate the design aspect of optimal controller for the stability of unstable inverted pendulum system. In this paper Linear Quadratic Regulator (LQR) for optimal stability analysis of closed loop system is presented. The result of proposed controller is compared with classical proportional integral derivative (PID) controller and the controller based on pole placement technique (PPT). It is observed that the optimal control technique outperforms the other controllers and stabilizes the unstable systems in a marvelous way.
Keywords :
closed loop systems; linear quadratic control; nonlinear control systems; pendulums; stability; LQR; closed loop system; inverted pendulum system stability; linear quadratic regulator; optimal controller design; optimal stability analysis; Force; IP networks; Mathematical model; Optimal control; Robots; State feedback; Inverted Pendulum; Linear quadratic regulator; PID controller; Pole placement; optimal controller;
Conference_Titel :
Power India International Conference (PIICON), 2014 6th IEEE
Print_ISBN :
978-1-4799-6041-5
DOI :
10.1109/34084POWERI.2014.7117720