Comparative Study of Furuta Pendulum Based on LQR and PID Control

Abstract Furuta pendulum is an underdriven and unstable controlled object with one input two outputs, has open-loop zero point at the origin of complex plane. In this paper, a nonlinear dynamic model established by Eulerian-Lagrangian method, series-connected PID control strategy designed using root locus method frequency domain analysis based on local linearization steady-state operating point. Besides, LQR discrete state-space model. addition, comparative conducted, it found that can achieve stable outer loop in case inner loop. Finally, effectiveness schemes verified real-time experiments.