Optimal controller design for inverted pendulum system based on LQR method

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.