This academic paper demonstrates the implementation of a Linear Quadratic Regulator (LQR) controller design for optimal controlling a three connected links in an inverted pendulum form that attached to a moving cart to realize the stability of making a pendulum in a straight vertical line via translation of the cart left and right. To maintain a triple link inverted pendulum (TLIP) vertical, genetic algorithm has been employed to adjust and tune the parameters of LQR, which are the weighting matrices Q and R instead of the approach of try and error. In this article, a hybrid control algorithm (GA-LQR) proposed to select the optimal values of weighting matrices to overcome LQR design difficulties, which gives the best transient response requirements such as percentage overshoot and steady state error. The triple link inverted pendulum is model mathematically modelled in MATLAB platform to simulate the actual system where the results from the simulation gives acceptable and adequate performance of LQR controller in making the system stable.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.
customersupport@researchsolutions.com
10624 S. Eastern Ave., Ste. A-614
Henderson, NV 89052, USA
This site is protected by reCAPTCHA and the Google Privacy Policy and Terms of Service apply.
Copyright © 2024 scite LLC. All rights reserved.
Made with 💙 for researchers
Part of the Research Solutions Family.