Linear quadratic regulator and pole placement for stabilizing a cart inverted pendulum system

Abstract

The system of a cart inverted pendulum has many problems such as nonlinearity, complexity, unstable, and underactuated system. It makes this system be a benchmark for testing many control algorithm. This p aper presents a comparison between 2 conventional control methods consist of a linear quadratic regulator (LQR) and pole placement. The comparison indicated by the most optimal steps and results in the system performance that obtained from each method for stabilizing a cart inverted pendulum system. A mathematical model of DC motor and mechanical transmission are included in a mathematical model to minimize the realtime implementation problem. From the simulation, the obtained system performance shows that each method has its advantages, and the desired pendulum angle and cart position reached.