Comparison of LQR and PD controller for stabilizing Double Inverted Pendulum System

Abstract—this paper presented comparison of the time specification performance between two type of controller for a Double Inverted Pendulum system. Double Inverted Pendulum is a non-linear,unstable and fast reaction system. DIP is stable when its two pendulums allocated in vertically position and have no oscillation and movement and also inserting force should be zero. The objective is to determine the control strategy that to delivers better performance with respect to pendulum angle’s and cart position. In this paper simple multi PD controller designed on the theory of pole placement and its performance is compared with Linear Quadratic Regulator controller using MATLAB and Simulink. Keywords––Double Inverted Pendulum; LQR; PD Controller; pole placement; MATLAB I.