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Performance comparison between LQR and PID controllers for an inverted pendulum system

Nasir, A. N. K. and Ahmad, Mohd Ashraf and Rahmat, Mohd Fuaad (2008) Performance comparison between LQR and PID controllers for an inverted pendulum system. In: AIP Conference Proceedings. American Institute of Physics, USA, pp. 124-128. ISBN 978-073540581-3

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Official URL: http://dx.doi.org/10.1063/1.3008655

Abstract

The objective of this paper is to compare the time specification performance between two conventional controllers 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. The inverted pendulum represents a challenging control problem, which continually moves toward an uncontrolled state. Two controllers are presented such as Linear-Quadratic-Regulator (LQR) and Proportional-Integral-Derivatives (PID) controllers for controlling the linearized system of inverted pendulum model. Simulation study has been done in Matlab simulink environment shows that both controllers are capable to control multi output inverted pendulum system successfully. The result shows that LQR produced better response compared to PID control strategies and is presented in time domain.

Item Type:Book Section
Additional Information:ISBN: 978-073540581-3; International Conference on Power Control and Optimization, PCO 2008; Chiang Mai; 18 July 2008 through 20 August 2008
Uncontrolled Keywords:inverted pendulum system, linear quadratic regulator (LQR), PACS: 60, proportional-integral-derivative (PID)
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:12719
Deposited By: Liza Porijo
Deposited On:27 Jun 2011 01:59
Last Modified:27 Jun 2011 01:59

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