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

摘要

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 upright stabilization and tracking controls of the system. Simulations results for the various control techniques subjected to a unity magnitude pulse input torque with and without disturbance were compared. The performances of the proposed controllers were investigated based on response time specifications and level of disturbance rejection. Thus, the performance of LQR is more reliable and satisfactory. Finally, future work suggestions were made.