Stabilization of triple link inverted pendulum system based on LQR control technique

Author

Gupta, M.K. ; Bansal, Komal ; Singh, A.K.

Author_Institution

Electr. Eng., Univ. of Pet. & Energy Studies, Dehradun, India

fYear

2014

fDate

9-11 May 2014

Firstpage

1

Lastpage

5

Abstract

This paper first discusses the mathematical modeling of a dynamical system consists of triple link inverted pendulum (TLIP) on a moving cart using Lagrangian equation. This model is then used to design a controller based on the LQR method to maintain the TLIP vertically on the moving cart. The stability and controllability of the triple link inverted pendulum system are investigated and the choice of weights in LQR is also discussed. The system is simulated in MATLAB environment and the simulation results establish the satisfactory performance of the LQR controller in stabilizing the system.

Keywords

linear quadratic control; mathematics computing; nonlinear control systems; pendulums; stability; LQR control; Lagrangian equation; Matlab environment; TLIP; dynamical system; linear quadratic regulator; mathematical modeling; stabilization; triple link inverted pendulum system; Artificial intelligence; Bismuth; Lagrangian system; Linear Quadratic Regulator; Triple link inverted Pendulum;

fLanguage

English

Publisher

ieee

Conference_Titel

Recent Advances and Innovations in Engineering (ICRAIE), 2014

Conference_Location

Jaipur

Print_ISBN

978-1-4799-4041-7

Type

conf

DOI

10.1109/ICRAIE.2014.6909204

Filename

6909204