Optimal Control of Double Inverted Pendulum Using LQR Controller
چکیده
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) controller. Main focus is to introduce how to built the mathematical model and the analysis of it’s system performance, then design a LQR controller in order to get the much better control. Matlab simulations are used to show the efficiency and feasibility of proposed approach. Keywords-Double inverted pendulam; Matlab; Linear-quardratic regulator; system performance;