LQG control design for balancing an inverted pendulum mobile robot
Journal article, Peer reviewed
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Original versionEide, R., Egelid, P. M., Stamsø, A., & Karimi, H. R. (2011). LQG control design for balancing an inverted pendulum mobile robot. Intelligent Control and Automation, 2(2), 160-166. doi: 10.4236/ica.2011.22019
The objective of this paper is to design linear quadratic controllers for a system with an inverted pendulum on a mobile robot. To this goal, it has to be determined which control strategy delivers better performance with respect to pendulum’s angle and the robot’s position. The inverted pendulum represents a challenging control problem, since it continually moves toward an uncontrolled state. Simulation study has been done in MATLAB Simulink environment shows that both LQR and LQG are capable to control this system success-fully. The result shows, however, that LQR produced better response compared to a LQG strategy.
Author's version of an article published in the journal: Intelligent Control and Automation. Also available from the publisher at: http://dx.doi.org/10.4236/ica.2011.22019