Stabilizing a Driven Pendulum Using DLQR Control

This article proposed a new control method to stabilize a driven pendulum system based on discrete-time Linear Quadratic Regulator (DLQR). Driven pendulum is a suspended pendulum, which has a motorized propeller at the end of the bar. The motorized propeller enables us to command the pendulum to the desire angle. The controller is designed through the choice of weight matrices Q and R of optimal controller. The controller is designed and simulated in MATLAB/Simulink. The simulation results demonstrate that the DLQR Controller enhanced stability and improved the time domain performance of the driven pendulum.