NDLI: Optimal controller design for inverted pendulum system based on LQR method

Content Provider	IEEE Xplore Digital Library
Author	Kumar, C. Lal, S. Patra, N. Halder, K. Reza, M.
Copyright Year	2012
Description	Author affiliation: Electronics and Instrumentation Engineering Dept. National Institute of Science and Technology, India (Kumar, C.; Lal, S.; Patra, N.; Halder, K.) \|\| Dept. of Mathematics, National Institute of Science and Technology, India (Reza, M.)
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.
Starting Page	259
Ending Page	263
File Size	139959
Page Count	5
File Format	PDF
ISBN	9781467320450
e-ISBN	9781467320481
DOI	10.1109/ICACCCT.2012.6320782
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-08-23
Publisher Place	India
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Integrated optics Jacobian matrices Jacobian linearization LQR Nonlinear optics Inverted pendulum model
Content Type	Text
Resource Type	Article

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