Control of an inverted pendulum using MODE-based optimized LQR controller
This paper presents an evolutionary optimization based LQR controller design for an inverted pendulum system. The objective is to address the challenges of appropriate design parameters selection in LQR controller while providing optimal performance compromise between the system control objectiv...
| Main Authors: | , , |
|---|---|
| Format: | Proceeding Paper |
| Language: | English |
| Published: |
2013
|
| Subjects: | |
| Online Access: | http://irep.iium.edu.my/42124/ http://irep.iium.edu.my/42124/1/iciea2013tijani.pdf |
| _version_ | 1848782221558677504 |
|---|---|
| author | Tijani, Ismaila B. Akmeliawati, Rini Abdullateef, Ayodele I. |
| author_facet | Tijani, Ismaila B. Akmeliawati, Rini Abdullateef, Ayodele I. |
| author_sort | Tijani, Ismaila B. |
| building | IIUM Repository |
| collection | Online Access |
| description | This paper presents an evolutionary optimization
based LQR controller design for an inverted pendulum system.
The objective is to address the challenges of appropriate design
parameters selection in LQR controller while providing optimal
performance compromise between the system control objectives
with respect to pendulum angle and position response. Hence, a
Multiobjective differential evolution algorithm is proposed to
design an LQR controller with optimal compromise between the
conflicting control objectives. The performance of the MODEbased
LQR is benchmarked with an existing controller from the
system manufacturer (QANSER). The performance shows the
effectiveness of the proposed design algorithm, and in addition
provides an efficient solution to conventional trial and error
design approach. |
| first_indexed | 2025-11-14T16:02:01Z |
| format | Proceeding Paper |
| id | iium-42124 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T16:02:01Z |
| publishDate | 2013 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-421242015-04-28T03:22:31Z http://irep.iium.edu.my/42124/ Control of an inverted pendulum using MODE-based optimized LQR controller Tijani, Ismaila B. Akmeliawati, Rini Abdullateef, Ayodele I. TJ212 Control engineering This paper presents an evolutionary optimization based LQR controller design for an inverted pendulum system. The objective is to address the challenges of appropriate design parameters selection in LQR controller while providing optimal performance compromise between the system control objectives with respect to pendulum angle and position response. Hence, a Multiobjective differential evolution algorithm is proposed to design an LQR controller with optimal compromise between the conflicting control objectives. The performance of the MODEbased LQR is benchmarked with an existing controller from the system manufacturer (QANSER). The performance shows the effectiveness of the proposed design algorithm, and in addition provides an efficient solution to conventional trial and error design approach. 2013 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/42124/1/iciea2013tijani.pdf Tijani, Ismaila B. and Akmeliawati, Rini and Abdullateef, Ayodele I. (2013) Control of an inverted pendulum using MODE-based optimized LQR controller. In: 8th Conference on Industrial Electronics and Applications, ICIEA 2013, 19-21 June 2013, Melbourne, VIC Australia. http://dx.doi.org/10.1109/ICIEA.2013.6566653 doi:10.1109/ICIEA.2013.6566653 |
| spellingShingle | TJ212 Control engineering Tijani, Ismaila B. Akmeliawati, Rini Abdullateef, Ayodele I. Control of an inverted pendulum using MODE-based optimized LQR controller |
| title | Control of an inverted pendulum using MODE-based optimized LQR controller |
| title_full | Control of an inverted pendulum using MODE-based optimized LQR controller |
| title_fullStr | Control of an inverted pendulum using MODE-based optimized LQR controller |
| title_full_unstemmed | Control of an inverted pendulum using MODE-based optimized LQR controller |
| title_short | Control of an inverted pendulum using MODE-based optimized LQR controller |
| title_sort | control of an inverted pendulum using mode-based optimized lqr controller |
| topic | TJ212 Control engineering |
| url | http://irep.iium.edu.my/42124/ http://irep.iium.edu.my/42124/ http://irep.iium.edu.my/42124/ http://irep.iium.edu.my/42124/1/iciea2013tijani.pdf |