An Optimal Fractional LQR-Based Control Approach Applied to a Cart-Pendulum System

Transformation of Output Constraints in Optimal Control Applied to a Double Pendulum on a Cart

This paper describes a constraint transformation technique for optimal control problems (OCP) with nonlinear single-input single-output (SISO) systems subject to output constraints. An input-output transformation and saturation functions are used to transform the system dynamics into a new unconstrained representation. This method allows to reformulate the original OCP into an unconstrained cou...

Optimal Control of a Double Inverted Pendulum on a Cart

In this report a number of algorithms for optimal control of a double inverted pendulum on a cart (DIPC) are investigated and compared. Modeling is based on Euler-Lagrange equations derived by specifying a Lagrangian, difference between kinetic and potential energy of the DIPC system. This results in a system of nonlinear differential equations consisting of three 2-nd order equations. This sys...

Optimal Control of Double Inverted Pendulum Using LQR Controller

Double Inverted Pendulum is a nonlinear system, unstable and fast reaction system. Double Inverted Pendulum is stable when its two pendulums allocated in vertically position and have no oscillation and movement and also inserting force should be zero. The aim of the paper is to design and performance analysis of the double inverted pendulum and simulation of Linear Quadratic Regulator (LQR) con...

DFBA-LQR: An Optimal Control Approach to Flux Balance Analysis

Systems biology is becoming an emerging field, as systems science is demonstrated as an essential tool in untangling biocomplexity. While various steady-state-based methods have been developed for study of metabolic networks, the study of the network dynamics is a less explored area, as it is inherently related to the regulatory network. The difficulty of regulatory network inference opens up t...

ME237 Project Nonlinear Control of a Cart Pendulum System