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
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;
Conference_Titel :
Power, Control and Embedded Systems (ICPCES), 2012 2nd International Conference on
Conference_Location :
Allahabad
Print_ISBN :
978-1-4673-1047-5
DOI :
10.1109/ICPCES.2012.6508052
