Design Of LQR Based Stabilizer For Rotary Inverted Pendulum System

摘要

This paper presents the design of optimal controller for nonlinear Rotary Inverted Pendulum (RIP) dynamic system using Linear Quadratic Regulator (LQR). LQR, an optimal control technique is generally used for control of the linear dynamical systems, have been used in this paper to control the non linear dynamical system. The non linear system states are fed to LQR which is designed using linear state-space model. Inverted pendulum, a highly nonlinear unstable system is used as a benchmark for implementing the control methods. Here the controller objective is to control the system such that the arm reaches at a desired position and the inverted pendulum stabilizes in upright position. The MATLAB-SIMULINK model has been developed for implementation of control schemes. The same controllers have been tested on a test bed of Quanser QUBE-Servo hardware system and the results are compared in various aspects to verify the efficiency of the proposed controller.