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2017•Unpublished venueRequires access

Application of LQR and MRAC for swing up control of inverted pendulum

Tamen Thapa Sarkar, Lillie Dewan

Open publisher page 11 citations

Abstract

Inverted pendulum is a highly nonlinear device and is a perfect experimenting bed for the design of classical and contemporary control techniques. In this paper Linear quadratic regulator(LQR) controllers and Model Reference adaptive controllers(MRAC) has been theoretically implemented on the inverted pendulum quanser kit. The objective here is to balance the inverted pendulum in an upright position using the optimal gain K in case of a linear quadratic regulator and following the reference model in model reference adaptive controller.

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What this paper is about

Inverted pendulum is a highly nonlinear device and is a perfect experimenting bed for the design of classical and contemporary control techniques. In this paper Linear quadratic regulator(LQR) controllers and Model Reference adaptive controllers(MRAC) has been theoretically implemented on the inverted pendulum quanser kit. The objective here is to balance the inverted pendulum in an upright position using the optimal gain K in case of a linear quadratic regulator and following the reference model in model reference adaptive controller.

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OpenAlex reports 11 citations for this work. Citation counts describe recorded attention and do not establish research quality.

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Available abstract

Inverted pendulum is a highly nonlinear device and is a perfect experimenting bed for the design of classical and contemporary control techniques. In this paper Linear quadratic regulator(LQR) controllers and Model Reference adaptive controllers(MRAC) has been theoretically implemented on the inverted pendulum quanser kit. The objective here is to balance the inverted pendulum in an upright position using the optimal gain K in case of a linear quadratic regulator and following the reference model in model reference adaptive controller.

Key concepts: Inverted pendulum, Control theory (sociology), Linear-quadratic regulator, Swing, Controller (irrigation), Position (finance), Nonlinear system, Pendulum

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