Investigation of optimal control approaches for inverted pendulum

The main objective of the present work is to investigate the design aspect of optimal controller for the stability of unstable inverted pendulum system. In this paper Linear Quadratic Regulator (LQR) for optimal stability analysis of closed loop system is presented. The result of proposed controller is compared with classical proportional integral derivative (PID) controller and the controller based on pole placement technique (PPT). It is observed that the optimal control technique outperforms the other controllers and stabilizes the unstable systems in a marvelous way.