Guogang Gao¹, Lei Xu¹, Tianpeng Huang^2,*, Xuliang Zhao¹, Lihua Huang¹

CMES-Computer Modeling in Engineering & Sciences, Vol.140, No.1, pp. 305-323, 2024, DOI:10.32604/cmes.2024.047899

Abstract The Rotary Inverted Pendulum (RIP) is a widely used underactuated mechanical system in various applications such as bipedal robots and skyscraper stabilization where attitude control presents a significant challenge. Despite the implementation of various control strategies to maintain equilibrium, optimally tuning control gains to effectively mitigate uncertain nonlinearities in system dynamics remains elusive. Existing methods frequently rely on extensive experimental data or the designer’s expertise, presenting a notable drawback. This paper proposes a novel tracking control approach for RIP, utilizing a Linear Quadratic Regulator (LQR) in combination with a reduced-order observer. Initially, the RIP system is mathematically modeled using the… More >

Aamir Shahzad¹, Ali Altalbe^2,*

Computer Systems Science and Engineering, Vol.46, No.1, pp. 853-871, 2023, DOI:10.32604/csse.2023.035575

Abstract The main idea behind the present research is to design a state-feedback controller for an underactuated nonlinear rotary inverted pendulum module by employing the linear quadratic regulator (LQR) technique using local approximation. The LQR is an excellent method for developing a controller for nonlinear systems. It provides optimal feedback to make the closed-loop system robust and stable, rejecting external disturbances. Model-based optimal controller for a nonlinear system such as a rotatory inverted pendulum has not been designed and implemented using Newton-Euler, Lagrange method, and local approximation. Therefore, implementing LQR to an underactuated nonlinear system was vital to design a stable… More >

Aamir Shahzad^1,*, Shadi Munshi², Sufyan Azam², Muhammad Nasir Khan³

CMC-Computers, Materials & Continua, Vol.73, No.2, pp. 2897-2911, 2022, DOI:10.32604/cmc.2022.028441

Abstract The main objective of this research is to design a state-feedback controller for the rotary inverted pendulum module utilizing the linear quadratic regulator (LQR) technique. The controller maintains the pendulum in the inverted (upright) position and is robust enough to reject external disturbance to maintain its stability. The research work involves three major contributions: mathematical modeling, simulation, and real-time implementation. To design a controller, mathematical modeling has been done by employing the Newton-Euler, Lagrange method. The resulting model was nonlinear so linearization was required, which has been done around a working point. For the estimation of the controller parameters, MATLAB… More >