Real Inverted Pendulum Control Using LQR Controller

Mariani , Mohamad (2009) Real Inverted Pendulum Control Using LQR Controller. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

This project is about controlling of an inverted pendulum system using linear quadratic regulator (LQR). Inverted pendulum system is a highly nonlinear and unstable system. Basically, an inverted pendulum system consists of a cart which can move horizontally along its track, a dc motor to drive the cart and also an inverted pendulum, mounted on the cart with a constant rotating pivot. This system demonstrates some basic concepts in control being nonlinear, non-minimum phase and multivariable behaviors. Due to these behaviors, the system requires a continuous correction mechanism for the pendulum to stay at upright position. The objective of this project is to design LQR controller to control the unstable system for both cart’s position and pendulum’s angle. LQR is developed as an optimal and effective controller that will be used to place the cart at desired position, at the same time to keep the pendulum straight upwards. This project also includes the interfacing procedures using real-time windows target application in Simulink. Both the system model and LQR controller are implemented in real time, connected to the real mechanism. A single data acquisition (DAQ) card is used as a medium to convert the digital signal from Simulink into analog signal.

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