Modeling and Performance Comparison of Triple PID and LQR Controllers for Parallel Rotary Double Inverted Pendulum

Krishna, Bipin and Chandran, Deepak and George, V I and Thirunavukkarasu, I (2015) Modeling and Performance Comparison of Triple PID and LQR Controllers for Parallel Rotary Double Inverted Pendulum. International Journal of Emerging Trends in Electrical and Electronics, 11 (2). pp. 145-150. ISSN 2320-9569

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Abstract

This paper presents the modelling and controller design of nonlinear parallel Rotary Double inverted pendulum system using Proportional-Integral-Derivative (PID) controller and Linear Quadratic Regulator (LQR). LQR, an optimal control technique, and PID control method have been used in this paper to control the nonlinear dynamical system Inverted pendulum, a highly nonlinear unstable system is used as a benchmark for implementing the control methods. In this paper, modelling of the system through Rotational geometry have been carried out, in which the entire inertia tensors are taken into account. The system dynamics for a pendulum with a full inertia tensor using a Lagrangian formulation are presented

Item Type: Article
Uncontrolled Keywords: Nonlinear system, Parallel Rotary Double Inverted Pendulum, Triple PID, LQR, Rotational Geometry
Subjects: Engineering > MIT Manipal > Instrumentation and Control
Depositing User: MIT Library
Date Deposited: 27 Jun 2015 06:01
Last Modified: 27 Jun 2015 06:01
URI: http://eprints.manipal.edu/id/eprint/143145

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