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Linear Quadratic Regulator Design for Stabilizing and Trajectory Tracking of Inverted Pendulum

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Innovation in Electrical Power Engineering, Communication, and Computing Technology

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 630))

Abstract

This manuscript presents a SIMULINK model of inverted pendulum (IP) and design of a linear quadratic regulator (LQR) to control of cart position (CP) and angular position (AP) of the pendulum under uncertainties and disturbances. For designing of the LQR, a fourth-order state-space model of the IP is taken. The LQR is a novel approach whose gains dynamically vary with respect to the error signal. The validation of the improved control performance of LQR is established by comparative result investigation with other published control algorithms. The comparative results clearly reveal the better response of the proposed approach to control the system dynamics within the stable range with respect to accuracy, robustness, and ability to handle uncertainties.

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Authors and Affiliations

  1. Department of EEE, ITER, SOA Deemed to be University, Bhubaneswar, 751030, India

    Akshaya Kumar Patra, Alok Kumar Mishra & Anuja Nanda

  2. Department of EE, ITER, SOA Deemed to be University, Bhubaneswar, 751030, India

    Ramachandra Agrawal & Abhishek Patra

  3. Department of CSE, DRIEMS (Autonomous), Cuttack, 754022, India

    Shekharesh Barik

Authors
  1. Akshaya Kumar Patra
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  2. Alok Kumar Mishra
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  3. Anuja Nanda
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  4. Ramachandra Agrawal
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  5. Abhishek Patra
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  6. Shekharesh Barik
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Corresponding author

Correspondence to Akshaya Kumar Patra .

Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, Institute of Technical Education and Research, Siksha ‘O’ Anusandhan (Deemed to be University), Bhubaneswar, Odisha, India

    Renu Sharma

  2. Department of Electrical and Electronics Engineering, Institute of Technical Education and Research, Siksha ‘O’ Anusandhan (Deemed to be University), Bhubaneswar, Odisha, India

    Manohar Mishra

  3. Department of Computer Science and Engineering, Aditya Institute of Technology and Management (AITAM), Tekkali, Kotturu, Andhra Pradesh, India

    Janmenjoy Nayak

  4. Department of Computer Application, Veer Surendra Sai University of Technology, Burla, Sambalpur, Odisha, India

    Bighnaraj Naik

  5. Faculty of Communication Sciences, University of Teramo (Coste Sant’agostino Campus), Teramo, Italy

    Danilo Pelusi

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Patra, A.K., Mishra, A.K., Nanda, A., Agrawal, R., Patra, A., Barik, S. (2020). Linear Quadratic Regulator Design for Stabilizing and Trajectory Tracking of Inverted Pendulum. In: Sharma, R., Mishra, M., Nayak, J., Naik, B., Pelusi, D. (eds) Innovation in Electrical Power Engineering, Communication, and Computing Technology. Lecture Notes in Electrical Engineering, vol 630. Springer, Singapore. https://doi.org/10.1007/978-981-15-2305-2_30

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  • DOI: https://doi.org/10.1007/978-981-15-2305-2_30

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-15-2304-5

  • Online ISBN: 978-981-15-2305-2

  • eBook Packages: EngineeringEngineering (R0)

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