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

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

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 objectiv...

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Main Authors: Tijani, Ismaila B., Akmeliawati, Rini, Abdullateef, Ayodele I.
Format: Conference or Workshop Item
Language:English
Published: 2013
Subjects:
TJ212 Control engineering
Online Access:http://irep.iium.edu.my/42124/
http://irep.iium.edu.my/42124/
http://irep.iium.edu.my/42124/
http://irep.iium.edu.my/42124/1/iciea2013tijani.pdf
id iium-42124
recordtype eprints
spelling iium-421242015-04-28T03:22:31Z http://irep.iium.edu.my/42124/ Control of an inverted pendulum using MODE-based optimized LQR controller Tijani, Ismaila B. Akmeliawati, Rini Abdullateef, Ayodele I. TJ212 Control engineering 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. 2013 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/42124/1/iciea2013tijani.pdf 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. http://dx.doi.org/10.1109/ICIEA.2013.6566653 doi:10.1109/ICIEA.2013.6566653
repository_type Digital Repository
institution_category Local University
institution International Islamic University Malaysia
building IIUM Repository
collection Online Access
language English
topic TJ212 Control engineering
spellingShingle TJ212 Control engineering
Tijani, Ismaila B.
Akmeliawati, Rini
Abdullateef, Ayodele I.
Control of an inverted pendulum using MODE-based optimized LQR controller
description 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.
format Conference or Workshop Item
author Tijani, Ismaila B.
Akmeliawati, Rini
Abdullateef, Ayodele I.
author_facet Tijani, Ismaila B.
Akmeliawati, Rini
Abdullateef, Ayodele I.
author_sort Tijani, Ismaila B.
title Control of an inverted pendulum using MODE-based optimized LQR controller
title_short Control of an inverted pendulum using MODE-based optimized LQR controller
title_full Control of an inverted pendulum using MODE-based optimized LQR controller
title_fullStr Control of an inverted pendulum using MODE-based optimized LQR controller
title_full_unstemmed Control of an inverted pendulum using MODE-based optimized LQR controller
title_sort control of an inverted pendulum using mode-based optimized lqr controller
publishDate 2013
url http://irep.iium.edu.my/42124/
http://irep.iium.edu.my/42124/
http://irep.iium.edu.my/42124/
http://irep.iium.edu.my/42124/1/iciea2013tijani.pdf
first_indexed 2023-09-18T21:00:06Z
last_indexed 2023-09-18T21:00:06Z
_version_ 1777410566385565696

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