Open AccessOptimal Control Comparisons on a Flywheel Based Inverted Pendulum
Author(s) -
Ahmad Samiee
Publication year - 2019
Publication title -
mapta journal of mechanical and industrial engineering
Language(s) - English
Resource type - Journals
ISSN - 2517-4258
DOI - 10.33544/mjmie.v3i1.108
Subject(s) - inverted pendulum , flywheel , control theory (sociology) , linear quadratic regulator , nonlinear system , riccati equation , controller (irrigation) , pid controller , optimal control , double inverted pendulum , pendulum , control engineering , engineering , computer science , control (management) , mathematics , mathematical optimization , physics , differential equation , temperature control , artificial intelligence , aerospace engineering , mathematical analysis , biology , quantum mechanics , agronomy , mechanical engineering
This paper introduces a comparison between two optimal controllers on a flywheel-based inverted pendulum. Inverted pendulums have an essential place in developing under-actuation nonlinear control schemes due to their nonlinear structure. This system is a basic structure for many advanced systems such as biped and mobile wheeled robots. Optimal controllers addressed in this paper consist of State-Dependent Riccati Equation (SDRE) and Linear Quadratic Regulator (LQR). A Proportional–Integral–Derivative controller (PID) is also designed and tested in the simulation. One axis self-balancing flywheel based inverted pendulum system is designed to validate the controllers' performance on an experimental setup.