LQR and PPM Control of Inverted Pendulum

Abstract

The inverted pendulum is a classic control problem in which a pendulum is balanced in an upright position by adjusting the position of the cart on which it is attached. This system is inherently unstable, requiring precise control to keep the pendulum in equilibrium. This thesis investigates the control of an inverted pendulum system using two different methods theoretically (pole placement and linear quadratic control) and experimentally. The major goal is to evaluate the impact of various parameters, such as cart mass, pendulum mass, and damping coefficient, on system behavior and control performance. The study looks at how changing the mass of the cart, the mass of the pendulum, and the damping coefficient affects the system stability, response time, and control effort. The findings provide useful information about the trade-offs between these factors and the performance of the two control approaches.