Design of linear quadratic regulator controller with adjustable gain function for rotary inverted pendulum system

Design of controllers for non-linear systems has long drawn the attention of researchers especially in the fields of robotics, aerospace engineering and marine engineering. A classic example of a non-linear under-actuated control system is the balance control for a rotary inverted pendulum. Basicall...

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Main Author:	Tang, Teng Fong
Format:	Thesis
Language:	English English
Published:	2015
Subjects:	T Technology (General) TJ Mechanical engineering and machinery
Online Access:	http://eprints.utem.edu.my/id/eprint/16811/1/Design%20Of%20Linear%20Quadratic%20Regulator%20Controller%20With%20Adjustable%20Gain%20Function%20For%20Rotary%20Inverted%20Pendulum%20System.pdf http://eprints.utem.edu.my/id/eprint/16811/2/Design%20of%20linear%20quadratic%20regulator%20controller%20with%20adjustable%20gain%20function%20for%20rotary%20inverted%20pendulum%20system.pdf
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id	my-utem-ep.16811
record_format	uketd_dc
institution	Universiti Teknikal Malaysia Melaka
collection	UTeM Repository
language	English English
advisor	Jamaludin, Zamberi
topic	T Technology (General) TJ Mechanical engineering and machinery
spellingShingle	T Technology (General) TJ Mechanical engineering and machinery Tang, Teng Fong Design of linear quadratic regulator controller with adjustable gain function for rotary inverted pendulum system
description	Design of controllers for non-linear systems has long drawn the attention of researchers especially in the fields of robotics, aerospace engineering and marine engineering. A classic example of a non-linear under-actuated control system is the balance control for a rotary inverted pendulum. Basically, the control approach for such system focusses on torque control of the servo-motor for the purpose of rotating the arm and stabilising the pendulum in its upright position at the shortest possible time. The aim of this research is to supplement and further enhance the control performance of a linear quadratic regulator (LQR) controller with focus on reduced response time and degree of oscillation of the pendulum with added robustness against input disturbance applied to the pendulum position and voltage to the motor. Initially, this thesis comprehensively analysed the LQR controller parameters based on minimal balance time of the pendulum. The LQR controller by itself produced high degree of oscillations, long balance time and poor robustness against input disturbance. As an enhancement over this approach, an adjustable gain was added to the existing LQR control structure. The results showed that for a 30° balancing control, the LQR controller with adjustable gain managed to reduce as much as 70% in the balance time and 98% in the degree of oscillation, while improved its robustness by producing faster balance time and lower oscillation upon excitation by input disturbance forces. In conclusion, the LQR controller with adjustable gain has significantly improved the control performance of the rotary inverted pendulum system.
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Tang, Teng Fong
author_facet	Tang, Teng Fong
author_sort	Tang, Teng Fong
title	Design of linear quadratic regulator controller with adjustable gain function for rotary inverted pendulum system
title_short	Design of linear quadratic regulator controller with adjustable gain function for rotary inverted pendulum system
title_full	Design of linear quadratic regulator controller with adjustable gain function for rotary inverted pendulum system
title_fullStr	Design of linear quadratic regulator controller with adjustable gain function for rotary inverted pendulum system
title_full_unstemmed	Design of linear quadratic regulator controller with adjustable gain function for rotary inverted pendulum system
title_sort	design of linear quadratic regulator controller with adjustable gain function for rotary inverted pendulum system
granting_institution	Universiti Teknikal Malaysia Melaka
granting_department	Faculty Of Manufacturing Engineering
publishDate	2015
url	http://eprints.utem.edu.my/id/eprint/16811/1/Design%20Of%20Linear%20Quadratic%20Regulator%20Controller%20With%20Adjustable%20Gain%20Function%20For%20Rotary%20Inverted%20Pendulum%20System.pdf http://eprints.utem.edu.my/id/eprint/16811/2/Design%20of%20linear%20quadratic%20regulator%20controller%20with%20adjustable%20gain%20function%20for%20rotary%20inverted%20pendulum%20system.pdf
_version_	1747833894300811264
spelling	my-utem-ep.168112022-09-20T12:17:01Z Design of linear quadratic regulator controller with adjustable gain function for rotary inverted pendulum system 2015 Tang, Teng Fong T Technology (General) TJ Mechanical engineering and machinery Design of controllers for non-linear systems has long drawn the attention of researchers especially in the fields of robotics, aerospace engineering and marine engineering. A classic example of a non-linear under-actuated control system is the balance control for a rotary inverted pendulum. Basically, the control approach for such system focusses on torque control of the servo-motor for the purpose of rotating the arm and stabilising the pendulum in its upright position at the shortest possible time. The aim of this research is to supplement and further enhance the control performance of a linear quadratic regulator (LQR) controller with focus on reduced response time and degree of oscillation of the pendulum with added robustness against input disturbance applied to the pendulum position and voltage to the motor. Initially, this thesis comprehensively analysed the LQR controller parameters based on minimal balance time of the pendulum. The LQR controller by itself produced high degree of oscillations, long balance time and poor robustness against input disturbance. As an enhancement over this approach, an adjustable gain was added to the existing LQR control structure. The results showed that for a 30° balancing control, the LQR controller with adjustable gain managed to reduce as much as 70% in the balance time and 98% in the degree of oscillation, while improved its robustness by producing faster balance time and lower oscillation upon excitation by input disturbance forces. In conclusion, the LQR controller with adjustable gain has significantly improved the control performance of the rotary inverted pendulum system. 2015 Thesis http://eprints.utem.edu.my/id/eprint/16811/ http://eprints.utem.edu.my/id/eprint/16811/1/Design%20Of%20Linear%20Quadratic%20Regulator%20Controller%20With%20Adjustable%20Gain%20Function%20For%20Rotary%20Inverted%20Pendulum%20System.pdf text en public http://eprints.utem.edu.my/id/eprint/16811/2/Design%20of%20linear%20quadratic%20regulator%20controller%20with%20adjustable%20gain%20function%20for%20rotary%20inverted%20pendulum%20system.pdf text en validuser https://plh.utem.edu.my/cgi-bin/koha/opac-detail.pl?biblionumber=96014 mphil masters Universiti Teknikal Malaysia Melaka Faculty Of Manufacturing Engineering Jamaludin, Zamberi 1. Abdullah, L., Jamaludin, Z., Chiew, T.H., Rafan, N.A. and Syed Mohamed, M.S., 2012. 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Design of linear quadratic regulator controller with adjustable gain function for rotary inverted pendulum system

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