Impact of weighting matrices in the design of discrete optimal controller based on LQR technique for non-linear system

摘要

This paper proposes the design of continuous and discrete optimal controller based on Continuous and Discrete time Linear Quadratic Regulator (CLQR and DLQR). The controllers have been implemented in Pneumatically Actuated Inverted Pendulum system which is basically non-linear in nature. The main aim is to design the optimal controllers with the given specification for the system and to study the impact of the weighting matrices on the behavior of the system for both the continuous and discrete. The performances of the controllers both for continuous and discrete system have been compared and evaluated with the presence of disturbance. Simulation studies have been made to show the effectiveness of the controllers for pendulum system. Finally the effects of weighting matrices in the optimal controller to control the pendulum system have been studied.