A Comparative Study of PID and LQR Control Strategies Applied to Inverted Pendulum Systems

dc.contributor.authorXu, Bowen
dc.date.accessioned2019-04-22T19:42:43Z
dc.date.available2019-04-22T19:42:43Z
dc.date.created2019-04-09
dc.date.issued2019-04-22
dc.degree.departmentSchool of Engineeringen_US
dc.description.abstractThis study provides a comprehensive comparison of two popular control strategies: the well-known proportional-integral-derivative controller (PID) and the linear-quadratic regulator (LQR). Both strategies are applied to two types of inverted pendulum systems: the linear single inverted pendulum and the linear double inverted pendulum. The PID and LQR controllers were simulated in MATLAB for the linear single inverted pendulum. Both strategies were used for real-time control of a double inverted pendulum; an experimental setup built by Quanser. The comparative results and control performance study are discussed in the report. Future work and recommendations are also provided.en_US
dc.identifier.urihttp://hdl.handle.net/10214/15901
dc.language.isoenen_US
dc.publisherUniversity of Guelphen_US
dc.rightsAttribution-ShareAlike 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-sa/4.0/*
dc.subjectinverted pendulum systemen_US
dc.titleA Comparative Study of PID and LQR Control Strategies Applied to Inverted Pendulum Systemsen_US
dc.typeMajor Paperen_US

Files

Original bundle
Now showing 1 - 1 of 1
Loading...
Thumbnail Image
Name:
Xu_Bowen_20190417_MEngg.pdf
Size:
2.07 MB
Format:
Adobe Portable Document Format
Description:
License bundle
Now showing 1 - 1 of 1
No Thumbnail Available
Name:
license.txt
Size:
1.71 KB
Format:
Item-specific license agreed upon to submission
Description:

Collections