Design and Performance Analysis of LQR Controller for Stabilizing Double Inverted Pendulum System

  title={Design and Performance Analysis of LQR Controller for Stabilizing Double Inverted Pendulum System},
  author={Ghassan A. Sultan and Ziyad Khalaf Farej},
Double inverted pendulum (DIP) is a nonlinear, multivariable and unstable system. [] Key Method A Linear-Quadratic-Regulator (LQR) technique for controlling the linearized system of double inverted pendulum model is presented. Simulation studies conducted in MATLAB environment show that the LQR controller are capable of controlling the multi output double inverted pendulum system. Also better performance results are obtained for controlling heavy driven part DIP system.

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