Linear quadratic regulator and pole placement for stabilizing a cart inverted pendulum system
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Published:2020-06-01
Issue:3
Volume:9
Page:914-923
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ISSN:2302-9285
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Container-title:Bulletin of Electrical Engineering and Informatics
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language:
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Short-container-title:Bulletin EEI
Author:
Fauziyah Mila,Amalia Zakiyah,Siradjuddin Indrazno,Dewatama Denda,Wicaksono Rendi Pambudi,Yudaningtyas Erni
Abstract
The system of a cart inverted pendulum has many problems such as nonlinearity, complexity, unstable, and underactuated system. It makes this system be a benchmark for testing many control algorithm. This paper presents a comparison between 2 conventional control methods consist of a linear quadratic regulator (LQR) and pole placement. The comparison indicated by the most optimal steps and results in the system performance that obtained from each method for stabilizing a cart inverted pendulum system. A mathematical model of DC motor and mechanical transmission are included in a mathematical model to minimize the realtime implementation problem. From the simulation, the obtained system performance shows that each method has its advantages, and the desired pendulum angle and cart position reached.
Publisher
Institute of Advanced Engineering and Science
Subject
Electrical and Electronic Engineering,Control and Optimization,Computer Networks and Communications,Hardware and Architecture,Instrumentation,Information Systems,Control and Systems Engineering,Computer Science (miscellaneous)
Cited by
3 articles.
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