Linear quadratic regulator (LQR) controller design for inverted pendulum
The Inverted Pendulum System is an under actuated, unstable and nonlinear system. The challenge of this project is to keep the inverted pendulum balanced and track the linear cart to a commanded position. This project presents investigations of performance comparison between conventional Proporti...
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| Format: | Thesis |
| Language: | English English English |
| Published: |
2013
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| Online Access: | http://eprints.uthm.edu.my/6714/ http://eprints.uthm.edu.my/6714/1/24p%20NOR%20AKMAL%20ALIAS.pdf http://eprints.uthm.edu.my/6714/4/NOR%20AKMAL%20ALIAS%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/6714/3/NOR%20AKMAL%20ALIAS%20WATERMARK.pdf |
| _version_ | 1848888890584203264 |
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| author | Alias, Nor Akmal |
| author_facet | Alias, Nor Akmal |
| author_sort | Alias, Nor Akmal |
| building | UTHM Institutional Repository |
| collection | Online Access |
| description | The Inverted Pendulum System is an under actuated, unstable and nonlinear
system. The challenge of this project is to keep the inverted pendulum balanced and
track the linear cart to a commanded position. This project presents investigations of
performance comparison between conventional Proportional Integral Derivatives
(PID) and modern control Linear Quadratic Regulator (LQR) schemes for an
inverted pendulum system. The goal is to determine which control strategy delivers
better performance with respect to pendulum’s angle and cart’s position. LQR
algorithm needed to compute what the steady-state value of the states should be by
multiply that by the chosen gain K, and a new value as the reference is used for
computing the input. Gain k is the state feedback gain matrix, so the system becomes
a closed loop control system. The LQR should produce a better response compared
to PID control strategies in both discrete time and continuous time control. |
| first_indexed | 2025-11-15T20:17:28Z |
| format | Thesis |
| id | uthm-6714 |
| institution | Universiti Tun Hussein Onn Malaysia |
| institution_category | Local University |
| language | English English English |
| last_indexed | 2025-11-15T20:17:28Z |
| publishDate | 2013 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | uthm-67142022-03-14T02:14:22Z http://eprints.uthm.edu.my/6714/ Linear quadratic regulator (LQR) controller design for inverted pendulum Alias, Nor Akmal TJ Mechanical engineering and machinery TJ212-225 Control engineering systems. Automatic machinery (General) The Inverted Pendulum System is an under actuated, unstable and nonlinear system. The challenge of this project is to keep the inverted pendulum balanced and track the linear cart to a commanded position. This project presents investigations of performance comparison between conventional Proportional Integral Derivatives (PID) and modern control Linear Quadratic Regulator (LQR) schemes for an inverted pendulum system. The goal is to determine which control strategy delivers better performance with respect to pendulum’s angle and cart’s position. LQR algorithm needed to compute what the steady-state value of the states should be by multiply that by the chosen gain K, and a new value as the reference is used for computing the input. Gain k is the state feedback gain matrix, so the system becomes a closed loop control system. The LQR should produce a better response compared to PID control strategies in both discrete time and continuous time control. 2013-06 Thesis NonPeerReviewed text en http://eprints.uthm.edu.my/6714/1/24p%20NOR%20AKMAL%20ALIAS.pdf text en http://eprints.uthm.edu.my/6714/4/NOR%20AKMAL%20ALIAS%20COPYRIGHT%20DECLARATION.pdf text en http://eprints.uthm.edu.my/6714/3/NOR%20AKMAL%20ALIAS%20WATERMARK.pdf Alias, Nor Akmal (2013) Linear quadratic regulator (LQR) controller design for inverted pendulum. Masters thesis, Universiti Tun Hussein Malaysia. |
| spellingShingle | TJ Mechanical engineering and machinery TJ212-225 Control engineering systems. Automatic machinery (General) Alias, Nor Akmal Linear quadratic regulator (LQR) controller design for inverted pendulum |
| title | Linear quadratic regulator (LQR) controller design for inverted pendulum |
| title_full | Linear quadratic regulator (LQR) controller design for inverted pendulum |
| title_fullStr | Linear quadratic regulator (LQR) controller design for inverted pendulum |
| title_full_unstemmed | Linear quadratic regulator (LQR) controller design for inverted pendulum |
| title_short | Linear quadratic regulator (LQR) controller design for inverted pendulum |
| title_sort | linear quadratic regulator (lqr) controller design for inverted pendulum |
| topic | TJ Mechanical engineering and machinery TJ212-225 Control engineering systems. Automatic machinery (General) |
| url | http://eprints.uthm.edu.my/6714/ http://eprints.uthm.edu.my/6714/1/24p%20NOR%20AKMAL%20ALIAS.pdf http://eprints.uthm.edu.my/6714/4/NOR%20AKMAL%20ALIAS%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/6714/3/NOR%20AKMAL%20ALIAS%20WATERMARK.pdf |