Open AccessLinear Quadratic Gaussian Regulator for the Nonlinear Observer-Based Control of a Dynamic Base Inverted Pendulum
Author(s) -
Khojasteh Mirza
Publication year - 2021
Publication title -
incas buletin
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.282
H-Index - 10
eISSN - 2247-4528
pISSN - 2066-8201
DOI - 10.13111/2066-8201.2021.13.3.7
Subject(s) - linear quadratic gaussian control , inverted pendulum , control theory (sociology) , linear quadratic regulator , kalman filter , controller (irrigation) , nonlinear system , observer (physics) , optimal control , computer science , control engineering , mathematics , engineering , control (management) , mathematical optimization , physics , quantum mechanics , artificial intelligence , agronomy , biology
The inverted pendulum is a non-linear control problem permanently tending towards instability. The main aim of this study is to design a controller capable enough to work within the given conditions while also keeping the pendulum erect given the impulsive movement of the cart to which it is joint via a hinge. The first half of the paper presents the mathematical modelling of the dynamic system, together with the design of a linear quadratic regulator (LQR). This paper also discusses a novel adaptive control mechanism employing a Kalman filter for the mobile inverted pendulum system (MIPS). In the second half of the paper, a Gaussian Quadratic Linear Controller (LQG) is adapted to improve on previous deficiencies. The simulation is done through Simulink and results show that both controllers are capable of managing the multiple output model. However, data from simulations clearly showed that an LQG controller is a better choice.