Real Time Swinging Up and Stabilizing a Double Inverted Pendulum Using PID-LQR
نویسندگان
چکیده
Abstract This study describes a method for swinging up and stabilizing double inverted pendulum (DIP) in real-time utilizing PID-LQR combined control system. Firstly, dynamic model of the system is made equations motion are constructed. The then moved from its unstable position to stable one using controller. A comparison controller’s output suggestions improving stability presented suggested
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ژورنال
عنوان ژورنال: Strojnícky ?asopis
سال: 2023
ISSN: ['2450-5471', '0039-2472']
DOI: https://doi.org/10.2478/scjme-2023-0013