Linear quadratic regulator and pole placement for stabilizing a cart inverted pendulum system

Fauziyah, Mila; Amalia, Zakiyah; Siradjuddin, Indrazno; Dewatama, Denda; Wicaksono, Rendi Pambudi; Yudaningtyas, Erni

doi:10.11591/eei.v9i3.2017

Cited by 8 publications

(6 citation statements)

References 24 publications

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“…In [7,10,[13][14][15] Linear quadratic regulator and pole placement control for stabilizing a cart inverted pendulum system has been simulated and compared on MATLAB Software. Both control mechanisms produce optimal system response with fast response and optimal control signal has been tested in [13]. This paper discusses modelling and simulation of reduced orderbased pole placement for inverted pendulum.…”

Section: Journal Of Informatics Electrical and Electronicsmentioning

confidence: 99%

Reduced Order Observer Based Pole Placement Design for Inverted Pendulum on Cart

Assefa

2022

J. Infor. Electr. Electron. Eng.

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The inverted pendulum is an under actuated system and unstable system without a controller. In this paper modelling of an inverted pendulum is done using the Euler-Lagrange equation for stabilization of it. The controller gain is evaluated through state feedback and reduced-order observer design techniques and the result for the different initial conditions is compared. The state feedback controller is designed by Pole- placement technique for different desired pole locations. The simulation of the inverted pendulum based on reduced order pole placement design has been done on MATLAB/SIMULINK. It has been observed from the simulation result that the angular velocity and cart speed tracks the system response for different initial conditions by varying the desired pole location for the left-hand plane of the s-plane. In general, if some of the systems are unknown and the other state is known we can design using a re-duced-order observer for any physical system.

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Section: Journal Of Informatics Electrical and Electronicsmentioning

confidence: 99%

Reduced Order Observer Based Pole Placement Design for Inverted Pendulum on Cart

Assefa

2022

J. Infor. Electr. Electron. Eng.

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“…Given that system is controllable and observable [6], it is intuitive to think that by arbitrarily placing the poles in left half of the complex plane should stabilize the system. Keeping this in consideration four random eigenvalues were chosen and gain matrix 𝐾 was computed for the system.…”

Section: Pole Placementmentioning

confidence: 99%

Performance and Stability Margins Comparison of Pole Placement and Optimal Controllers using Cart-Inverted Pendulum System

Ijaz¹

2021

JISR-C

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In this paper, pole placement and two optimal control techniques which are the linear quadratic regulator and linear quadratic gaussian are compared. A cart and inverted pendulum which is an inherently unstable dynamical system is used as a case study to analyze their performance and stability margins. Lagrangian equations defining the system dynamics are converted to linear state-space representation. The objective is to keep the pendulum in an upright position as the cart on which it is mounted moves from one position to another. MATLAB is used to solve the optimization problem and simulate the step response of the system. The robustness of both controllers is measured by giving uncertain model parameters to the system and observing the level of uncertainty these controllers can handle. The simulation results justify the relative advantages of these control schemes.

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“…In the rule structure of an internal model, in an activated sludge process (ASP) based wastewater treatment, virtual reference adjustment feedback is used to regulate dissolved oxygen emissions and substrate concentration [7], [8]. The methodology of data-driven proved to be easier to implement and provided a better result compared to continuous-time proportional integral (PI) controllers with two degrees of freedom [9]. A resilient positive identification (PID) controller can guarantee stability and be robust and economical in model mismatch circumstances [10].…”

Section: Introductionmentioning

confidence: 99%

Robustness enhancement study of augmented positive identification controller by a sigmoid function

Issa

Mahmood

Humod

et al. 2023

IJ-AI

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The dissolved oxygen concentration in the wastewater treatment process (WWTP) must remain in a specific range while the factory operates. The augmented positive identification (PID) controller with a nonlinear element (sigmoid function) is proposed to assure stability and reduce uncertainties in the wastewater direct reuse/recycling model. The nonlinear controller gains (PID controller with sigmoid function) for uncertain wastewater treatment processes are tuned using the particle swarm optimization (PSO) technique. The proposed robust method for controlling wastewater treatment processes has good robustness during model mismatching, reduces treatment time compared to traditional positive identification (PID) controllers tuned by PSO, is easy to apply, and has good performance, according to simulation results.

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Linear quadratic regulator and pole placement for stabilizing a cart inverted pendulum system

Cited by 8 publications

References 24 publications

Reduced Order Observer Based Pole Placement Design for Inverted Pendulum on Cart

Reduced Order Observer Based Pole Placement Design for Inverted Pendulum on Cart

Performance and Stability Margins Comparison of Pole Placement and Optimal Controllers using Cart-Inverted Pendulum System

Robustness enhancement study of augmented positive identification controller by a sigmoid function

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