Preprint Article Version 1 This version is not peer-reviewed

Comparison of a Triple Inverted Pendulum Stabilization Using Optimal Control Technique

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. Preprints 2020, 2020060128 (doi: 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 (doi: 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.

Subject Areas

Inverted pendulum; linear quadratic regulator; Pole placement

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