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Performance Based Analysis of LQR Controller for Stabilizing Cart Triple Link Inverted Pendulum


Kalyani Sharma , Shri Shankaracharya Technical Campus, Bhilai [C.G.] ; Vikas Sahu, Shri Shankaracharya Technical Campus, Bhilai [C.G.]


Linear Quadratic Regulator, Observer based control, Triple Link Inverted Pendulum, Matlab, System Performance


This paper focuses on the control problem of the cart triple link inverted pendulum by LQR controller. Firstly a mathematical model for the cart triple link inverted pendulum system is presented using Lagrange equation. This model is then used to design a full-state feedback controller based on the LQR method to stabilize the system. It is then compared with an observer based LQR controller. The stability, controllability and observability are investigated and the choice of weights in LQR also discussed. The system is simulated in MATLAB environment and the simulation results establish the satisfactory performance of LQR controller in stabilizing the system.

Other Details

Paper ID: IJSRDV4I90540
Published in: Volume : 4, Issue : 9
Publication Date: 01/12/2016
Page(s): 862-866

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