NDLI: Modelling and Simulation for Optimal Control of Nonlinear Inverted Pendulum Dynamical System Using PID Controller and LQR

Content Provider	IEEE Xplore Digital Library
Author	Prasad, L.B. Tyagi, B. Gupta, H.O.
Copyright Year	2012
Abstract	This paper presents the modelling and simulation for optimal control design of nonlinear inverted pendulum-cart dynamic system using Proportional-Integral-Derivative (PID) controller and Linear Quadratic Regulator (LQR). LQR, an optimal control technique, and PID control method, both of which are generally used for control of the linear dynamical systems have been used in this paper to control the nonlinear dynamical system. The nonlinear system states are fed to LQR which is designed using linear state-space model. Inverted pendulum, a highly nonlinear unstable system is used as a benchmark for implementing the control methods. Here the control objective is to control the system such that the cart reaches at a desired position and the inverted pendulum stabilizes in upright position. The MATLAB-SIMULINK models have been developed for simulation of control schemes. The simulation results justify the comparative advantages of LQR control methods.
Starting Page	138
Ending Page	143
File Size	348148
Page Count	6
File Format	PDF
ISBN	9781467319577
DOI	10.1109/AMS.2012.21
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-29
Publisher Place	Indonesia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Inverted pendulum Force Optimal control optimal control Nonlinear dynamical systems nonlinear system PID control Mathematical model PD control LQR Equations
Content Type	Text
Resource Type	Article

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