INVERTED PENDULUM CONTROL USING ADAPTIVE CONTROL

Abstract

Control of inverted pendulum is an extremely challenging task. The dynamics of pendulum are nonlinear and unstable. In this thesis, an attempt has been made to accomplish the control of an cart inverted pendulum system using linear quadratic regulator (LQR) approach. Linear quadratic regulator is an optimal control scheme that employs a performance index which involves assigning weights to states and the control inputs. First, the mathematical model of the cart inverted pendulum system is derived and then the LQR approach is used for its control. To demonstrate the effectiveness and efficacy of the LQR control scheme, it has been compared with proportional integral derivative (PID) control scheme with respect to the step response. In this thesis the logic is developed to co-ordinate between the different controller such as two LQR to obtain adaptive controller, So that the optimum desired results for plant are obtained. The developed control scheme for CIPS is also validated using simulation. It is observed that the adaptive controller is more effective than individual controller