Real Time Swinging Up and Stabilizing a Double Inverted Pendulum Using PID-LQR

Real Time Swinging Up and Stabilizing a Double Inverted Pendulum Using PID-LQR

This study describes a method for swinging up and stabilizing a double inverted pendulum (DIP) in real-time utilizing a PID-LQR combined control system. Firstly, a dynamic model of the double inverted pendulum system is made up and the equations of motion are constructed. The pendulum then is moved...

Full description

Bibliographic Details
Main Authors: Shala Erjon, Bajrami Xhevahir, Likaj Rame, Pajaziti Arbnor
Format: Article
Language:English
Published: Sciendo 2023-05-01
Series:Journal of Mechanical Engineering
Subjects:
real-time control
double inverted pendulum
pid-lqr control
swing up and stabilization
Online Access:https://doi.org/10.2478/scjme-2023-0013

Internet

https://doi.org/10.2478/scjme-2023-0013

Similar Items