CONTROLLER DESIGN OF INVERTED PENDULUM USING POLE PLACEMENT AND LQR

P. Kumar, O.N. Mehrotra, J. Mahto

Abstract: In this paper modeling of an inverted pendulum is done using Euler – Lagrange energy equation for stabilization of the pendulum. The controller gain is evaluated through state feedback and Linear Quadratic optimal regulator controller techniques and also the results for both the controller are compared. The SFB controller is designed by Pole-Placement technique. An advantage of Quadratic Control method over the pole-placement techniques is that the former provides a systematic way of computing the state feedback control gain matrix.LQR controller is designed by the selection on choosing. The proposed system extends classical inverted pendulum by incorporating two moving masses. The motion of two masses that slide along the horizontal plane is controllable .The results of computer simulation for the system with Linear Quardatic Regulator (LQR) & State Feedback Controllers are shown in section 6.

Keywords: Inverted pendulum, Mathematical modeling Linear-quadratic regulator, Response, State Feedback controller, gain formulae.

DOI: https://doi.org/10.15623/ijret.2012.0104003