Designing Discrete Time Optimal Controller for Double Inverted Pendulum System


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Abstract


This paper presented a new optimal control approach to control a Double inverted pendulum system based on discrete-time Linear Quadratic Regulator (DLQR). Discrete-time Linear Quadratic Regulator (DLQR) is theory of optimal control regarding the operating a dynamic system with at least cost and a suitable method of controlling the double pendulum system. This system poses a challenging control problem that precise model of system is a non-linear. The simulation results show that the DLQR Controller stabilized the Double inverted pendulum with a suitable settling time.
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Keywords


Discrete Time Optimal Controller; Double Inverted Pendulum- DLQR; Nonlinear

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References


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