The aim of this paper is to propose a system LQR control a robotic arm with two degrees of freedom considering that its operating principle is based on one of the best-known examples that is the robotic arm. First, we consider its mathematical modeling to be able to keep the robotic arm perpendicular in the presence of disturbances by applying appropriate control force. To do this, we consider basic mathematical foundations of classical optimal control and linear quadratic regulator that allows us to develop the dynamic system of equations that will govern the control of the robotic arm. After we will establish the linearized equations system, which gives way to the Simulink simulation process with Mathlab.
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