Comparison between double-PID+LQR and LQR controllers for rotary inverted pendulum

Amir Shah, Nurhanani (2019) Comparison between double-PID+LQR and LQR controllers for rotary inverted pendulum. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

The Rotary Inverted Pendulum is a classic problem of heory. This report focuses on the design, stability analysis and modeling of the rotor pendulum inverted.It also provides the design steps for the controllers for an inverted rotary motion pendulum operated by the rotary servo plant of the SRV 02 Series.A control system is designed using classic and modern control methods. The classic root locus method is the design of two compensators for the PID controller. The second method of the modern method control technique is the Linear Quadratic Regulator (LQR). The linear square regulator is thus tested for the upright and swing mode of the pendulum. The mathematical derivatives also showed that the designed controller needs to stabilize the pendulum system. Simulation studies are conducted to demonstrate the efficiency of the designed controller and the result shows that the controller can maintain a stable reverse position.

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