Stabilization of an Inverted Pendulum using robust controller

Inverted pendulum control is a well-known and challenging problem, which is generally associated to attitude control of a rocket during takeoff. This paper describes the method for stabilizing and trajectory tracking of Self Erecting Single Inverted Pendulum (SESIP) using Linear Quadratic Regulator (LQR). The main focus of this paper is to design a stabilizing controller which can accommodate the disturbance present in the system in the form of an external force. In order to understand the importance of an optimal LQR controller, a Proportional-Integral-Derivative (PID) controller is also implemented in this paper. Simulation results prove that the proposed LQR controller can guarantee the inverted pendulum a faster and smoother stabilizing with less oscillation and better robustness than a PID controller.