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Real Time Swinging Up and Stabilizing a Double Inverted Pendulum Using PID-LQR

Shala Erjon / Bajrami Xhevahir / Likaj Rame / Pajaziti Arbnor

This study describes a method for swinging up and stabilizing a double inverted pendulum (DIP) in real-time utilizing a PID-LQR combined control system. Firstly, a dynamic model of the double inverted pendulum system is made up and the equations of motion are constructed. The pendulum then is moved from its unstable position to a stable one using a PID-LQR controller. A comparison of the PID-LQR controller’s output and suggestions for improving system stability is presented and is suggested combined control system.

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Real Time Swinging Up and Stabilizing a Double Inverted Pendulum Using PID-LQR

Shala Erjon / Bajrami Xhevahir / Likaj Rame / Pajaziti Arbnor

This study describes a method for swinging up and stabilizing a double inverted pendulum (DIP) in real-time utilizing a PID-LQR combined control system. Firstly, a dynamic model of the double inverted pendulum system is made up and the equations of motion are constructed. The pendulum then is moved from its unstable position to a stable one using a PID-LQR controller. A comparison of the PID-LQR controller’s output and suggestions for improving system stability is presented and is suggested combined control system.

Real Time Swinging Up and Stabilizing a Double Inverted Pendulum Using PID-LQR

Shala Erjon / Bajrami Xhevahir / Likaj Rame / Pajaziti Arbnor

This study describes a method for swinging up and stabilizing a double inverted pendulum (DIP) in real-time utilizing a PID-LQR combined control system. Firstly, a dynamic model of the double inverted pendulum system is made up and the equations of motion are constructed. The pendulum then is moved from its unstable position to a stable one using a PID-LQR controller. A comparison of the PID-LQR controller’s output and suggestions for improving system stability is presented and is suggested combined control system.

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Title:

Real Time Swinging Up and Stabilizing a Double Inverted Pendulum Using PID-LQR

Contributors:

Shala Erjon (author) / Bajrami Xhevahir (author) / Likaj Rame (author) / Pajaziti Arbnor (author)

Published in:

Journal of Mechanical Engineering, Vol 73, Iss 1, Pp 159-168 (2023)

Publication date:

2023

ISSN:

DOI:

https://doi.org/10.2478/scjme-2023-0013

Type of media:

Article (Journal)

Type of material:

Electronic Resource

Language:

Unknown

Keywords:

real-time control , double inverted pendulum , pid-lqr control , swing up and stabilization , Engineering (General). Civil engineering (General) , TA1-2040

Metadata by DOAJ is licensed under CC BY-SA 1.0

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