2014•Advanced materials researchRequires access

Design of LQR Controller for the Inverted Pendulum

Li Wan, Juan Lei, Hong Xia Wu

Abstract

For the instability of the inverted pendulum, a LQR controller is designed based on optimal control algorithm in this paper, which can control the pendulum angle and the cart position at the same time. The basic principle of LQR optimal control is analyzed and the LQR controller is designed and simulated in this paper. The simulation results show that the designed controller is effective. It has a good effect of equilibrium and stability control, and the system's anti-interference ability is improved.

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Key concepts: Inverted pendulum, Control theory (sociology), Controller (irrigation), Position (finance), Optimal control, Pendulum, Engineering, Stability (learning theory)