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Comparison of a Triple Inverted Pendulum Stabilization Using Optimal Control Technique
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In this paper, modelling design and analysis of a triple inverted pendulum have been done using Matlab/Script toolbox. Since a triple inverted pendulum is highly nonlinear, strongly unstable without using feedback control system. In this paper an optimal control method means a linear quadratic regulator and pole placement controllers are used to stabilize the triple inverted pendulum upside. The impulse response simulation of the open loop system shows us that the pendulum is unstable. The comparison of the closed loop impulse response simulation of the pendulum with LQR and pole placement controllers results that both controllers have stabilized the system but the pendulum with LQR controllers have a high overshoot with long settling time than the pendulum with pole placement controller. Finally the comparison results prove that the pendulum with pole placement controller improve the stability of the system.
Title: Comparison of a Triple Inverted Pendulum Stabilization Using Optimal Control Technique
Description:
In this paper, modelling design and analysis of a triple inverted pendulum have been done using Matlab/Script toolbox.
Since a triple inverted pendulum is highly nonlinear, strongly unstable without using feedback control system.
In this paper an optimal control method means a linear quadratic regulator and pole placement controllers are used to stabilize the triple inverted pendulum upside.
The impulse response simulation of the open loop system shows us that the pendulum is unstable.
The comparison of the closed loop impulse response simulation of the pendulum with LQR and pole placement controllers results that both controllers have stabilized the system but the pendulum with LQR controllers have a high overshoot with long settling time than the pendulum with pole placement controller.
Finally the comparison results prove that the pendulum with pole placement controller improve the stability of the system.
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