Stabilization Of Inverted Pendulum On Cart Based On Pole Placement and LQR

Abstract

An inverted pendulum on cart is an object which is a nonlinear, unstable system, is used as a standard for designing the control methods and finds most versatile application in the field of control theory. To achieve the stabilization of a inverted pendulum system pole placement method is used to design a state feedback controller and then optimal linear quadratic regulator has been applied to the system. The results shown that are the comparison between the performance of two controllers, first the state feedback controller, which is designed by pole placement method and the optimal LQR controller. Both controller stabilizes the inverted pendulum system but deviates in their performance. Simulation has been carried out to show two different approaches for comparative study of their performance.