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STABILITY ANALYSIS OF THE SYSTEM BASED ON INVERTED PENDULUM WITH DOUBLE-POLE ARRANGEMENT USING LQR CONTROLLER

Author(s):
Harshad Bhakhar , L.D. COLLEGE OF ENGINEERING AHMEDABAD; Dipkumar Patel, L.D. COLLEGE OF ENGINEERING AHMEDABAD; Ravi Baldaniya, L.D. COLLEGE OF ENGINEERING AHMEDABAD; Ankit Patel, L.D. COLLEGE OF ENGINEERING AHMEDABAD

Keywords:
LQR Controller, pendulum system , mathematical modeling .

Abstract

The double-pole inverted pendulum system on a cart is highly nonlinear and unstable system which invoke the researchers to find the ways of stability with different controllers. In this paper we have demonstrated the mathematical modeling and by applying the controllability principle we found this system is inherently unstable and then we applied a modern LQR approach with different Q and R matrices weightage to check the stability.

Other Details
Paper ID: IJSRDV2I3235
Published in: Volume : 2, Issue : 3
Publication Date: 01/06/2014
Page(s): 1271-1275

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