Comparison of a Triple Inverted Pendulum Stabilization using Optimal Control Technique

In Preprints. pp. 10 (2020)
Download Edit this record How to cite View on PhilPapers
In this paper, modelling design and analysis of a triple inverted pendulum have been done using Matlab/Script toolbox. Since a triple inverted pendulum is highly nonlinear, strongly unstable without using feedback control system. In this paper an optimal control method means a linear quadratic regulator and pole placement controllers are used to stabilize the triple inverted pendulum upside. The impulse response simulation of the open loop system shows us that the pendulum is unstable. The comparison of the closed loop impulse response simulation of the pendulum with LQR and pole placement controllers results that both controllers have stabilized the system but the pendulum with LQR controllers have a high overshoot with long settling time than the pendulum with pole placement controller. Finally the comparison results prove that the pendulum with pole placement controller improve the stability of the system.
No keywords specified (fix it)
No categories specified
(categorize this paper)
PhilPapers/Archive ID
Upload history
Archival date: 2020-06-11
View other versions
Added to PP index

Total views
42 ( #53,064 of 2,425,653 )

Recent downloads (6 months)
16 ( #40,350 of 2,425,653 )

How can I increase my downloads?

Downloads since first upload
This graph includes both downloads from PhilArchive and clicks on external links on PhilPapers.