IIUM Repository

Control of an inverted pendulum using MODE-based optimized LQR controller

Tijani, Ismaila B. and Akmeliawati, Rini and Abdullateef, Ayodele I. (2013) Control of an inverted pendulum using MODE-based optimized LQR controller. In: 8th Conference on Industrial Electronics and Applications, ICIEA 2013, 19-21 June 2013, Melbourne, VIC Australia.

[img] PDF - Published Version
Restricted to Repository staff only

Download (401kB) | Request a copy


This paper presents an evolutionary optimization based LQR controller design for an inverted pendulum system. The objective is to address the challenges of appropriate design parameters selection in LQR controller while providing optimal performance compromise between the system control objectives with respect to pendulum angle and position response. Hence, a Multiobjective differential evolution algorithm is proposed to design an LQR controller with optimal compromise between the conflicting control objectives. The performance of the MODEbased LQR is benchmarked with an existing controller from the system manufacturer (QANSER). The performance shows the effectiveness of the proposed design algorithm, and in addition provides an efficient solution to conventional trial and error design approach.

Item Type: Conference or Workshop Item (Full Paper)
Additional Information: 5806/42124
Uncontrolled Keywords: Inverted pendulum system, LQR, Multiobjectives differential evolution
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ212 Control engineering
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button): Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User: Prof. Dr. Rini Akmeliawati
Date Deposited: 28 Apr 2015 11:22
Last Modified: 28 Apr 2015 11:22
URI: http://irep.iium.edu.my/id/eprint/42124

Actions (login required)

View Item View Item


Downloads per month over past year