Shehu, Muhammad and Ahmad, Mohd. Ridzuan and Shehu, Auwal and Alhassan, Ahmad Bala (2015) LQR, double-PID and pole placement stabilization and tracking control of single link inverted pendulum. In: International Conference On Control System, Computing And Engineering, 27-29 Nov, 2015, Penang, Malaysia.
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Official URL: http://www.acscrg.com/iccsce/2015/
Abstract
This paper presents the dynamic behaviour of a nonlinear single link inverted pendulum-on-cart system based on Lagrange Equation. The nonlinear model linearization was presented based on Taylor series approximation. LQR, double-PID and simple pole placement control techniques were proposed for upright stabilization and tracking controls of the system. Simulations results for the various control techniques subjected to a unity magnitude pulse input torque with and without disturbance were compared. The performances of the proposed controllers were investigated based on response time specifications and level of disturbance rejection. Thus, the performance of LQR is more reliable and satisfactory. Finally, future work suggestions were made.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Uncontrolled Keywords: | riccati equation, disturbance |
| Subjects: | Q Science > QA Mathematics |
| Divisions: | Electrical Engineering |
| ID Code: | 60820 |
| Deposited By: | Widya Wahid |
| Deposited On: | 01 Mar 2017 07:05 |
| Last Modified: | 31 Jul 2017 08:17 |
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