LQR Control for Five-Link Pendubot

Abstract

Pendubot is a popular inverted pendulum model in control engineering. Usually, two-link pendubot is used due to its simplicity in mechanical structure and its nonlinear characteristic. The challenge of control can be increased by adding more links to system. In this paper, balancing five-link pendubot at TOP position and pulse-tracking this model are tested through simulation. The control algorithm LQR is in survey in this research. The simulation shows that system is stabilized well at working point and it is also control well in tracking a pulse trajectory.