Designing an optimal controller for Cart Triple Link Inverted Pendulum

Volume 4 Issue 4 August - October 2016

Research Paper

Designing an optimal controller for Cart Triple Link Inverted Pendulum

Kalyani Sharma*, Vikas Sahu**

* M.E. Scholar, Department of Electronics and Telecommunication Engineering, Shri Shankaracharya Technical Campus, Bhilai, C.G, India.

** Assistant Professor, Department of Electronics and Telecommunication Engineering, Shri Shankaracharya Technical Campus, Bhilai, C.G,

Sharma, K., and Sahu, V. (2016). Designing an optimal controller for Cart Triple Link Inverted Pendulum. i-manager’s Journal on Instrumentation and Control Engineering, 4(4), 1-36. https://doi.org/10.26634/jic.4.4.8231

Abstract

In this paper the main aim is to stabilize the Triple Link Inverted Pendulum (TLIP) system on a cart. The mathematical model and state space dynamics of the TLIP system is discussed. The TLIP system is inherently unstable, so a Linear Quadratic l Regulator Design (with a degree of stability) is presented. The stability, controllability, and observability are investigated. The choice of weighting matrices in LQR is also discussed. Then an Observer-based controller is designed for the TLIP system. The simulation is done with MATLAB environment and a comparative study of the time domain characteristics are shown.