Comparison of a Triple Inverted Pendulum Stabilization using Optimal Control Technique
In Preprints. pp. 10 (2020)
Abstract
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.
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PhilPapers/Archive ID
JIBCOA-2
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Archival date: 2020-06-11
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2020-06-11
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2020-06-11
Total views
32 ( #52,286 of 55,816 )
Recent downloads (6 months)
20 ( #34,801 of 55,816 )
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