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Lqr-based PID controller with variable load tuned with data-driven methods for double inverted pendulum

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Abstract

Modern controller design is increasingly based on data-driven control methods. PID controllers are still used primarily in the industry, because they are Linear Quadratic Regulator (LQR). The LQR provides an efficient way to tune the parameters of a PID controller. The LQR has the disadvantage of requiring accurate models of the system, as well as reducing a high-order system to a second-order model. First, we explore the new horizons of control theory in the form of the state-space model for high nonlinear systems. Second, the Lagrangian method establishes the new mathematical model of the two-stage linear inverted pendulum system. In addition, real-time LQR parameters are calculated under variable load. This method has been demonstrated to be highly applicable and accurate through simulations and experiments using the Double Inverted Pendulum model.

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The data that support the findings of this study are available from the corresponding author, upon reasonable request.

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Funding

This work was supported by the Big Data Analytic Center of United Arab Emirates University under grant code 12R135.

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Authors and Affiliations

  1. Artificial Intelligence Research Institute, China University of Mining and Technology, Xuzhou, China

    Muhammad Shamrooz Aslam

  2. Department of Automation, University of Science and Technology of China, Hefei, 2300271, China

    Hazrat Bilal

  3. Computer and Network Engineering, College of IT, UAE University, Al Ain, UAE

    Mohammad Hayajneh

Authors
  1. Muhammad Shamrooz Aslam
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  2. Hazrat Bilal
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  3. Mohammad Hayajneh
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Correspondence to Mohammad Hayajneh.

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Aslam, M.S., Bilal, H. & Hayajneh, M. Lqr-based PID controller with variable load tuned with data-driven methods for double inverted pendulum. Soft Comput 28, 325–338 (2024). https://doi.org/10.1007/s00500-023-09442-9

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