Linear quadratic regulator (LQR) controller design for inverted pendulum

The Inverted Pendulum System is an under actuated, unstable and nonlinear system. The challenge of this project is to keep the inverted pendulum balanced and track the linear cart to a commanded position. This project presents investigations of performance comparison between conventional Proporti...

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Main Author:	Alias, Nor Akmal
Format:	Thesis
Language:	English English English
Published:	2013
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.uthm.edu.my/6714/1/24p%20NOR%20AKMAL%20ALIAS.pdf http://eprints.uthm.edu.my/6714/4/NOR%20AKMAL%20ALIAS%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/6714/3/NOR%20AKMAL%20ALIAS%20WATERMARK.pdf
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id	my-uthm-ep.6714
record_format	uketd_dc
spelling	my-uthm-ep.67142022-03-14T02:14:22Z Linear quadratic regulator (LQR) controller design for inverted pendulum 2013-06 Alias, Nor Akmal TJ Mechanical engineering and machinery TJ212-225 Control engineering systems. Automatic machinery (General) The Inverted Pendulum System is an under actuated, unstable and nonlinear system. The challenge of this project is to keep the inverted pendulum balanced and track the linear cart to a commanded position. This project presents investigations of performance comparison between conventional Proportional Integral Derivatives (PID) and modern control Linear Quadratic Regulator (LQR) schemes for an inverted pendulum system. The goal is to determine which control strategy delivers better performance with respect to pendulum’s angle and cart’s position. LQR algorithm needed to compute what the steady-state value of the states should be by multiply that by the chosen gain K, and a new value as the reference is used for computing the input. Gain k is the state feedback gain matrix, so the system becomes a closed loop control system. The LQR should produce a better response compared to PID control strategies in both discrete time and continuous time control. 2013-06 Thesis http://eprints.uthm.edu.my/6714/ http://eprints.uthm.edu.my/6714/1/24p%20NOR%20AKMAL%20ALIAS.pdf text en public http://eprints.uthm.edu.my/6714/4/NOR%20AKMAL%20ALIAS%20COPYRIGHT%20DECLARATION.pdf text en staffonly http://eprints.uthm.edu.my/6714/3/NOR%20AKMAL%20ALIAS%20WATERMARK.pdf text en validuser mphil masters Universiti Tun Hussein Malaysia Fakulti Kejuruteraan Elektrik dan Elektronik
institution	Universiti Tun Hussein Onn Malaysia
collection	UTHM Institutional Repository
language	English English English
topic	TJ Mechanical engineering and machinery TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery TJ Mechanical engineering and machinery Alias, Nor Akmal Linear quadratic regulator (LQR) controller design for inverted pendulum
description	The Inverted Pendulum System is an under actuated, unstable and nonlinear system. The challenge of this project is to keep the inverted pendulum balanced and track the linear cart to a commanded position. This project presents investigations of performance comparison between conventional Proportional Integral Derivatives (PID) and modern control Linear Quadratic Regulator (LQR) schemes for an inverted pendulum system. The goal is to determine which control strategy delivers better performance with respect to pendulum’s angle and cart’s position. LQR algorithm needed to compute what the steady-state value of the states should be by multiply that by the chosen gain K, and a new value as the reference is used for computing the input. Gain k is the state feedback gain matrix, so the system becomes a closed loop control system. The LQR should produce a better response compared to PID control strategies in both discrete time and continuous time control.
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Alias, Nor Akmal
author_facet	Alias, Nor Akmal
author_sort	Alias, Nor Akmal
title	Linear quadratic regulator (LQR) controller design for inverted pendulum
title_short	Linear quadratic regulator (LQR) controller design for inverted pendulum
title_full	Linear quadratic regulator (LQR) controller design for inverted pendulum
title_fullStr	Linear quadratic regulator (LQR) controller design for inverted pendulum
title_full_unstemmed	Linear quadratic regulator (LQR) controller design for inverted pendulum
title_sort	linear quadratic regulator (lqr) controller design for inverted pendulum
granting_institution	Universiti Tun Hussein Malaysia
granting_department	Fakulti Kejuruteraan Elektrik dan Elektronik
publishDate	2013
url	http://eprints.uthm.edu.my/6714/1/24p%20NOR%20AKMAL%20ALIAS.pdf http://eprints.uthm.edu.my/6714/4/NOR%20AKMAL%20ALIAS%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/6714/3/NOR%20AKMAL%20ALIAS%20WATERMARK.pdf
_version_	1747831086778417152

Linear quadratic regulator (LQR) controller design for inverted pendulum

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