Control of Double Rotary Inverted Pendulum using Linear Quadratic Regulator in Simulation

Authors

  • Minh Hien Tran
  • Quang Truong Truong
  • Tran Nguyen Nguyen
  • Huu Thinh Ho
  • Hoang Duy Nguyen
  • Cong Dang Khoa Le
  • Bao Khoi Nguyen
  • Van Binh Tuong

DOI:

https://doi.org/10.56097/binhduonguniversityjournalofscienceandtechnology.v6i2.159

Keywords:

Balancing control; double rotary inverted pendulum; LQR algorithm; rotary inverted pendulum;

Abstract

Double rotary inverted pendulum (DRIP) is a SIMO complicated nonlinear
unstable model which is developed from one-linked RIP – a classical model in control
engineering. The paper presents method of modelling and development of control for RDIP
system in Matlab/Simulink simulation. In this paper, we present dynamic equations and
LQR controller to balance this system on up-right position. Thence, we investigate stability
of system under this method. The evaluation of the simulation results will show the
effectiveness of the controller on this system.

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Published

2023-07-28

How to Cite

Tran, M. H., Truong, Q. T., Nguyen, T. N., Ho, H. T., Nguyen , H. D., Le , C. Đăng K., Nguyen, B. K., & Tuong, V. B. (2023). Control of Double Rotary Inverted Pendulum using Linear Quadratic Regulator in Simulation. Tập San Khoa học Và kỹ thuật trường Đại học Bình Dương, 6(2). https://doi.org/10.56097/binhduonguniversityjournalofscienceandtechnology.v6i2.159

Issue

Vol. 6 No. 2 (2023): BINH DUONG UNIVERSITY JOURNAL OF SCIENCE AND TECHNOLOGY

Section

TECHNICAL SCIENCES - TECHNOLOGICAL SCIENCES