Version 1
: Received: 9 June 2020 / Approved: 10 June 2020 / Online: 10 June 2020 (05:41:25 CEST)
How to cite:
Jibril, M.; Tadese, M.; Tadese, E.A. Comparison of a Triple Inverted Pendulum Stabilization Using Optimal Control Technique. Preprints2020, 2020060128. https://doi.org/10.20944/preprints202006.0128.v1
Jibril, M.; Tadese, M.; Tadese, E.A. Comparison of a Triple Inverted Pendulum Stabilization Using Optimal Control Technique. Preprints 2020, 2020060128. https://doi.org/10.20944/preprints202006.0128.v1
Jibril, M.; Tadese, M.; Tadese, E.A. Comparison of a Triple Inverted Pendulum Stabilization Using Optimal Control Technique. Preprints2020, 2020060128. https://doi.org/10.20944/preprints202006.0128.v1
APA Style
Jibril, M., Tadese, M., & Tadese, E.A. (2020). Comparison of a Triple Inverted Pendulum Stabilization Using Optimal Control Technique. Preprints. https://doi.org/10.20944/preprints202006.0128.v1
Chicago/Turabian Style
Jibril, M., Messay Tadese and Eliyas Alemayehu Tadese. 2020 "Comparison of a Triple Inverted Pendulum Stabilization Using Optimal Control Technique" Preprints. https://doi.org/10.20944/preprints202006.0128.v1
Abstract
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.
Keywords
Inverted pendulum; linear quadratic regulator; Pole placement
Subject
Engineering, Control and Systems Engineering
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
