Design of LQR Controller for the Inverted Pendulum

Li Li Wan; Juan Lei; Hong Xia Wu

doi:10.4028/www.scientific.net/AMR.1037.221

Paper Titles

Research on Solving the Watertightness Problem of Underwater Angular Sensor Driven by New Magnetism
p.205

The Design of Kiln Liquid Level Control System with Long Time-Delay
p.208

Simulation Analysis on Hydrostatic Transmission Based on the MATLAB/SIMULINK
p.212

Efficiency Analysis on Hydro-Mechanical Transmission
p.216

Design of LQR Controller for the Inverted Pendulum
p.221

Study on Auto-Tuning PID Controller
p.225

Wheeled Robot Path Tracking Study Based on IMM Algorithm
p.228

Design of Vehicle-Mounted Solar Photovoltaic Panels System that Change Orientation with the Light
p.232

The Application of Artificial Intelligence Technology in the Selective Laster Sintering
p.236

HomeAdvanced Materials ResearchAdvanced Materials Research Vol. 1037Design of LQR Controller for the Inverted Pendulum

Design of LQR Controller for the Inverted Pendulum

Abstract:

For the instability of the inverted pendulum, a LQR controller is designed based on optimal control algorithm in this paper, which can control the pendulum angle and the cart position at the same time. The basic principle of LQR optimal control is analyzed and the LQR controller is designed and simulated in this paper. The simulation results show that the designed controller is effective. It has a good effect of equilibrium and stability control, and the system's anti-interference ability is improved.

You might also be interested in these eBooks

Development of Applied Engineering Sciences

View Preview

Info:

Periodical:

Advanced Materials Research (Volume 1037)

Pages:

221-224

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.1037.221

Citation:

Cite this paper

Online since:

October 2014

Authors:

Li Li Wan*, Juan Lei, Hong Xia Wu

Keywords:

Inverted Pendulum, LQR, Simulation of MATLAB

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

* - Corresponding Author

References

[1] Zhang Jing: Application of MATLAB in control system. (2007).

Google Scholar

[2] Yi Jie, Xie Xianjin: Application of optimal control of inverted pendulum system.

Google Scholar

[3] Fan Xingzhe, Cheng Ning, Zhao Naiyao: Two Fuzzy Cascade Control Schemes of a Trip le Inverted Pendulum[A]. Proceedings of the 3th World Congress on Intelligent Control and Automation: Vol 3 [C]. Hefei: IEEE, 2000, 1721-1726.

DOI: 10.1109/wcica.2000.862766

Google Scholar

[4] Mori Shoze, H. Nishihara and K. Furuta. Control of unstable mechanical system: Control of pendulum [J]. Int.J. of Control 1976, 23(5): 673-692.

DOI: 10.1080/00207177608922192

Google Scholar

[5] J.W. Watts. Control of an inverted pendulum. ASEE Annual Conference, session 2527, 1984, 706-710.

Google Scholar

[6] Shuliang Lei, Reza Langari, Hierarchical Fuzzy Logic Control of a Double Inverted Pendulum. C2000 IEEE.

DOI: 10.1109/fuzzy.2000.839201

Google Scholar

[7] Fuyan Cheng, Guomin Zhong, Youshan Li, Zhengming Xu. Fuzzy control of a double-inverted pendulum. Fuzzy Sets and Systems, 1996, 79(3).

DOI: 10.1016/0165-0114(95)00156-5

Google Scholar