LQR, double-PID and pole placement stabilization and tracking control of single link inverted pendulum

• Main Authors: Shehu, Muhammad, Ahmad, Mohd. Ridzuan, Shehu, Auwal, Alhassan, Ahmad Bala
• Format: Conference or Workshop Item
• Published: 2015
• Subjects: QA Mathematics
• Online Access: http://eprints.utm.my/id/eprint/60820/; http://www.acscrg.com/iccsce/2015/
• Institution: Universiti Teknologi Malaysia

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 uprig...