Real Time Swinging Up and Stabilizing a Double Inverted Pendulum Using PID-LQR-Reference-Cited by-同舟云学术

Real Time Swinging Up and Stabilizing a Double Inverted Pendulum Using PID-LQR

Published:2023-05-01 Issue:1 Volume:73 Page:159-168
ISSN:2450-5471
Container-title:Strojnícky časopis - Journal of Mechanical Engineering
language:en
Short-container-title:

Author:

Shala Erjon¹,Bajrami Xhevahir¹,Likaj Rame¹,Pajaziti Arbnor¹

Affiliation:

1. 1 Department of Mechatronics, Faculty of Mechanical Engineering, University of Pristina “ Hasan Prishtina” , Prishtina , Kosovo

Abstract

Abstract This study describes a method for swinging up and stabilizing a double inverted pendulum (DIP) in real-time utilizing a PID-LQR combined control system. Firstly, a dynamic model of the double inverted pendulum system is made up and the equations of motion are constructed. The pendulum then is moved from its unstable position to a stable one using a PID-LQR controller. A comparison of the PID-LQR controller’s output and suggestions for improving system stability is presented and is suggested combined control system.

Publisher

Walter de Gruyter GmbH

Subject

Mechanical Engineering

Link

https://www.sciendo.com/pdf/10.2478/scjme-2023-0013

Reference13 articles.

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