COMPARISON OF PID AND LQR CONTROL ON AN INVERTED PENDULUM SYSTEM

• Main Author: Alison, Vittorio
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/81216
• Institution: Institut Teknologi Bandung

<p align="justify">PID control systems are widely used in industry, but these systems have limited capabilities in controlling MIMO systems. Other control methods such as LQR control and modified PID can achieve better performance in controlling MIMO systems. In this research, a two DOF inverted pendulum will be used to compare PID and LQR control. The goal of this research is to compare the performance and complexity of implementation of each of the control system. This research is started with compiling various sources that are relevant. These will be used to create a Simscape model to be used to compare the control systems. The control system will be implemented in Simulink using the Simscape model. The performance of both control system will be compared after tuning is completed. The research report will be written after all activities are concluded. The result shows that LQR control can achieve the target state faster and without any overhoot using less control action. Tuning of PID system are much more complicated and time consuming because of instability of the system. Implementation of PID system are much easier because the PID control loop are built into a block in the available library.<p align="justify">