<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>This study describes a method for swinging up and stabilizing a double inverted pendulum (DIP) in real-time utilizing a PID-LQR combined control system. Firstly, a dynamic model of the double inverted pendulum system is made up and the equations of motion are constructed. The pendulum then is moved from its unstable position to a stable one using a PID-LQR controller. A comparison of the PID-LQR controller’s output and suggestions for improving system stability is presented and is suggested combined control system.</p>
</abstract>

This study describes a method for swinging up and stabilizing a double inverted pendulum (DIP) in real-time utilizing a PID-LQR combined control system. Firstly, a dynamic model of the double inverted pendulum system is made up and the equations of motion are constructed. The pendulum then is moved from its unstable position to a stable one using a PID-LQR controller. A comparison of the PID-LQR controller’s output and suggestions for improving system stability is presented and is suggested combined control system.

Real Time Swinging Up and Stabilizing a Double Inverted Pendulum Using PID-LQR

Strojnícky časopis - Journal of Mechanical Engineering

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

{"article-title":"Real Time Swinging Up and Stabilizing a Double Inverted Pendulum Using PID-LQR"}

This study describes a method for swinging up and stabilizing a double inverted pendulum (DIP) in real-time utilizing a PID-LQR combined control system....

Real Time Swinging Up and Stabilizing a Double Inverted Pendulum Using PID-LQR

Published Online: May 25, 2023

Page range: 159 - 168

DOI: https://doi.org/10.2478/scjme-2023-0013

© 2023 Shala Erjon et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.