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

Erjon Shala; Xhevahir Bajrami; Rame Likaj; Arbnor Pajaziti

doi:10.2478/scjme-2023-0013

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

Strojnícky časopis - Journal of Mechanical Engineering

Volume 73 (2023): Issue 1 (May 2023)

By: Erjon Shala, Xhevahir Bajrami, Rame Likaj and Arbnor Pajaziti

Open Access

|May 2023

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.

References

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Articles in this issue

DOI: https://doi.org/10.2478/scjme-2023-0013 | Journal eISSN: 2450-5471 | Journal ISSN: 0039-2472

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Language: English

Page range: 159 - 168

Published on: May 25, 2023

Published by: Slovak University of Technology in Bratislava

In partnership with: Paradigm Publishing Services

Publication frequency: 2 issues per year

Keywords:

Real-time control,

Double Inverted Pendulum,

PID-LQR Control,

Swing Up and Stabilization

Related subjects:

Engineering,

Mechanical engineering,

Fundamentals of mechanical engineering,

Mechanics

© 2023 Erjon Shala, Xhevahir Bajrami, Rame Likaj, Arbnor Pajaziti, published by Slovak University of Technology in Bratislava
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Volume 73 (2023): Issue 1 (May 2023)