Volume 11 Number 6
December 2014
Article Contents
Lal Bahadur Prasad, Barjeev Tyagi and Hari Om Gupta. Optimal Control of Nonlinear Inverted Pendulum System Using PID Controller and LQR: Performance Analysis Without and With Disturbance Input. International Journal of Automation and Computing, vol. 11, no. 6, pp. 661-670, 2014. doi: 10.1007/s11633-014-0818-1
Cite as: Lal Bahadur Prasad, Barjeev Tyagi and Hari Om Gupta. Optimal Control of Nonlinear Inverted Pendulum System Using PID Controller and LQR: Performance Analysis Without and With Disturbance Input. International Journal of Automation and Computing, vol. 11, no. 6, pp. 661-670, 2014. doi: 10.1007/s11633-014-0818-1

Optimal Control of Nonlinear Inverted Pendulum System Using PID Controller and LQR: Performance Analysis Without and With Disturbance Input

  • Received: 2012-06-28
通讯作者: 陈斌, bchen63@163.com
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    沈阳化工大学材料科学与工程学院 沈阳 110142

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Optimal Control of Nonlinear Inverted Pendulum System Using PID Controller and LQR: Performance Analysis Without and With Disturbance Input

Abstract: Linear quadratic regulator (LQR) and proportional-integral-derivative (PID) control methods, which are generally used for control of linear dynamical systems, are used in this paper to control the nonlinear dynamical system. LQR is one of the optimal control techniques, which takes into account the states of the dynamical system and control input to make the optimal control decisions. The nonlinear system states are fed to LQR which is designed using a linear state-space model. This is simple as well as robust. The inverted pendulum, a highly nonlinear unstable system, is used as a benchmark for implementing the control methods. Here the control objective is to control the system such that the cart reaches a desired position and the inverted pendulum stabilizes in the upright position. In this paper, the modeling and simulation for optimal control design of nonlinear inverted pendulum-cart dynamic system using PID controller and LQR have been presented for both cases of without and with disturbance input. The Matlab-Simulink models have been developed for simulation and performance analysis of the control schemes. The simulation results justify the comparative advantage of LQR control method.

Lal Bahadur Prasad, Barjeev Tyagi and Hari Om Gupta. Optimal Control of Nonlinear Inverted Pendulum System Using PID Controller and LQR: Performance Analysis Without and With Disturbance Input. International Journal of Automation and Computing, vol. 11, no. 6, pp. 661-670, 2014. doi: 10.1007/s11633-014-0818-1
Citation: Lal Bahadur Prasad, Barjeev Tyagi and Hari Om Gupta. Optimal Control of Nonlinear Inverted Pendulum System Using PID Controller and LQR: Performance Analysis Without and With Disturbance Input. International Journal of Automation and Computing, vol. 11, no. 6, pp. 661-670, 2014. doi: 10.1007/s11633-014-0818-1
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