Design of Linear Quadratic Regulator (LQR) for a Double Inverted Pendulum- Part 4

This project focuses on the design and analysis of controllers for an inverted double pendulum system on a cart, with the goal of maintaining the pendulum’s stability in the vertical position. The double pendulum on a cart is a nonlinear, unstable, and underactuated system, commonly used as a benchmark due to its complex dynamics. Various control techniques, such as optimal LQR control, LQG control, pole placement, VSC-SM control, and LQR + PID with event-triggered control, were evaluated for their performance under different operating conditions. The direct input on the cart plays a crucial role, as the only available control action is the force applied to the cart, directly influencing the stability of the system and the pendulum control.
The control methodologies were implemented and evaluated using a virtual prototype developed in Simscape Multibody, simulating the behavior of a real physical system. This approach allowed for a detailed study of the system’s dynamics without the need for a physical prototype. Extensive simulations were conducted, introducing disturbances, noise, and load changes to assess the stability and robustness of the controllers in non-ideal conditions. The results demonstrated that the designed controllers are effective at maintaining the pendulum’s vertical position even under perturbations, showing notable stability and precision in performance.
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Видео Design of Linear Quadratic Regulator (LQR) for a Double Inverted Pendulum- Part 4 канала Basil Mohammed Al-Hadithi - باسل محمد الحديثي