Control of an inverted pendulum using mode-based optimized lqr controller
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Date
2013
Journal Title
Journal ISSN
Volume Title
Publisher
IEEE
Abstract
This paper presents an evolutionary optimization
based LQR controller design for an inverted pendulum system.
The objective is to address the challenges of appropriate design
parameters selection in LQR controller while providing optimal
performance compromise between the system control objectives
with respect to pendulum angle and position response. Hence, a
Multiobjective differential evolution algorithm is proposed to
design an LQR controller with optimal compromise between the
conflicting control objectives. The performance of the MODEbased
LQR is benchmarked with an existing controller from the
system manufacturer (QANSER). The performance shows the
effectiveness of the proposed design algorithm, and in addition
provides an efficient solution to conventional trial and error
design approach.
Description
Keywords
Inverted pendulum system, LQR, Multiobjectives differential evolution
Citation
Tijani, I. B., Akmeliawati, R., & Abdullateef, A. I. (2013). Control of an inverted pendulum using mode-based optimized lqr controller. Proceedings of IEEE 8th Conference on Industrial Electronics and Applications, ICIEA 2013, 1759–1764, Published by IEEE. Available at https://sci-hub.tw/10.1109/iciea.2013.6566653