Optimal control of inverted pendulum system using PID controller, LQR and MPC

14th International Conference on Science, Engineering and Technology

自然科学;工业技术

Varghese, Elisa Sara^1 ; Vincent, Anju K^1 ; Bagyaveereswaran, V.^1

School of Electrical Engineering, VIT University, Vellore, Tamil Nadu

632014, India^1

关键词: Control objectives;    Inverted pendulum;    Inverted pendulum cart systems;    Inverted pendulum system;    Linear quadratic regulator;    Model predictive controllers;    Optimal control technique;    Predictive abilities;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/263/5/052007/pdf
DOI  :  10.1088/1757-899X/263/5/052007

来源: IOP

【 摘 要 】

Inverted pendulum is a highly nonlinear system. Here we propose an optimal control technique for the control of an inverted Pendulum-cart system. The system is modeled, linearized and controlled. Here, the control objective is to control the system such that when the cart reaches a desired position the inverted pendulum stabilizes in the upright position. Initially PID controller is used to control the system. Later, Linear Quadratic Regulator (LQR) a well-known optimal control technique which makes use of the states of the dynamical system and control input to frame the optimal control decision is used. Various combinations of both PID and LQR controllers are implemented. To validate the robustness of the controller, the system is simulated with and without disturbance. Finally the system is also controlled using Model Predictive controller (MPC). MPC has well predictive ability to calculate future events and implement necessary control actions. The performance of the system is compared and analyzed.