Comparison of inverted pendulum stabilization with PID, LQ, and MPC control

Abstract

This paper covers mathematical modeling of the inverted pendulum process and design of three types of controllers: PI, linear-quadratic (LQR), and model predictive controller (MPC). Since the dynamics of the inverted pendulum process is in range of milliseconds, the explicit version of MPC is applied. All three controllers are implemented and experimentally tested on a laboratory scale of the inverted pendulum device.