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All Journal Bulletin of Electrical Engineering and Informatics
Rendi Pambudi Wicaksono
State Polytechnic of Malang
Electrical & Electronics Engineering

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Linear quadratic regulator and pole placement for stabilizing a cart inverted pendulum system Mila Fauziyah; Zakiyah Amalia; Indrazno Siradjuddin; Denda Dewatama; Rendi Pambudi Wicaksono; Erni Yudaningtyas
Bulletin of Electrical Engineering and Informatics Vol 9, No 3: June 2020
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1060.219 KB) | DOI: 10.11591/eei.v9i3.2017

Abstract

The system of a cart inverted pendulum has many problems such as  nonlinearity, complexity, unstable, and underactuated system. It makes this system be a benchmark for testing many control algorithm. This paper  presents a comparison between 2 conventional control methods consist of a linear quadratic regulator (LQR) and pole placement. The comparison  indicated by the most optimal steps and results in the system performance  that obtained from each method for stabilizing a cart inverted pendulum system. A mathematical model of DC motor and mechanical transmission are included in a mathematical model to minimize the realtime implementation problem. From the simulation, the obtained system performance shows that each method has its advantages, and the desired pendulum angle and cart position reached.
Co-Authors Dewatama, Denda Erni Yudaningtyas Indrazno Siradjuddin Mila Fauziyah Zakiyah Amalia