Heuristic optimization based choice of LQR weighting matrices for a rotary inverted pendulum

Abstract

The choice of weighting matrices of the linear quadratic regulator (LQR) is one such decision which has a great effect on the dynamics of the system. There exists a nonlinear relationship between the dynamics of plant and their numerical values. Problems where such nonlinear relation exists, heuristic have served very useful to extract a better solution. In this paper, an attempt is made for the optimal choice of LQR weighting matrices using heuristic optimization techniques for a rotary inverted pendulum such that the settling time of the system is minimized.