Linear quadratic gaussian (LQG) controller for inverted pendulum

The inverted pendulum is a classical control problem in dynamics and control theory which is the system encounter highly nonlinear and unstable system. Basically, the design of an inverted pendulum system consist of a cart or carriage which it can move horizontally along its track, where there is dc...

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Main Author:	Ahmad, Norhidayah
Format:	Thesis
Language:	English English English
Published:	2013
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.uthm.edu.my/6717/1/24p%20NORHIDAYAH%20AHMAD.pdf http://eprints.uthm.edu.my/6717/2/NORHIDAYAH%20AHMAD%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/6717/3/NORHIDAYAH%20AHMAD%20WATERMARK.pdf
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id	my-uthm-ep.6717
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spelling	my-uthm-ep.67172022-03-14T02:14:40Z Linear quadratic gaussian (LQG) controller for inverted pendulum 2013-06 Ahmad, Norhidayah TJ Mechanical engineering and machinery TJ212-225 Control engineering systems. Automatic machinery (General) The inverted pendulum is a classical control problem in dynamics and control theory which is the system encounter highly nonlinear and unstable system. Basically, the design of an inverted pendulum system consist of a cart or carriage which it can move horizontally along its track, where there is dc motor embedded in the cart to drive it, while on the cart, there is pendulum that mounted on it. For visualization purpose, the inverted pendulum system had similar concept when trying to balance a broomstick with hand. Since inverted pendulum is unstable system, the controller was introduced. Linear Quadratic Gaussian (LQG) is combination of multivariate function such as Linear Quadratic Regulator (LQR) and Kalman Filter. Linear Quadratic Gaussian (LQG) is developed as an optimal and effective controller that will be used to place cart at desired position and at the same time to make sure the pendulum is always erected in its inverted position during movement of cart. The simulation study was stimulated by using MATLAB and Simulink software. As conclusion, through simulation the inverted pendulum can be stabilized by the LQG controller. 2013-06 Thesis http://eprints.uthm.edu.my/6717/ http://eprints.uthm.edu.my/6717/1/24p%20NORHIDAYAH%20AHMAD.pdf text en public http://eprints.uthm.edu.my/6717/2/NORHIDAYAH%20AHMAD%20COPYRIGHT%20DECLARATION.pdf text en staffonly http://eprints.uthm.edu.my/6717/3/NORHIDAYAH%20AHMAD%20WATERMARK.pdf text en validuser mphil masters Universiti Tun Hussein Malaysia Fakulti Kejuruteraan Elektrik dan Elektronik
institution	Universiti Tun Hussein Onn Malaysia
collection	UTHM Institutional Repository
language	English English English
topic	TJ Mechanical engineering and machinery TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery TJ Mechanical engineering and machinery Ahmad, Norhidayah Linear quadratic gaussian (LQG) controller for inverted pendulum
description	The inverted pendulum is a classical control problem in dynamics and control theory which is the system encounter highly nonlinear and unstable system. Basically, the design of an inverted pendulum system consist of a cart or carriage which it can move horizontally along its track, where there is dc motor embedded in the cart to drive it, while on the cart, there is pendulum that mounted on it. For visualization purpose, the inverted pendulum system had similar concept when trying to balance a broomstick with hand. Since inverted pendulum is unstable system, the controller was introduced. Linear Quadratic Gaussian (LQG) is combination of multivariate function such as Linear Quadratic Regulator (LQR) and Kalman Filter. Linear Quadratic Gaussian (LQG) is developed as an optimal and effective controller that will be used to place cart at desired position and at the same time to make sure the pendulum is always erected in its inverted position during movement of cart. The simulation study was stimulated by using MATLAB and Simulink software. As conclusion, through simulation the inverted pendulum can be stabilized by the LQG controller.
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Ahmad, Norhidayah
author_facet	Ahmad, Norhidayah
author_sort	Ahmad, Norhidayah
title	Linear quadratic gaussian (LQG) controller for inverted pendulum
title_short	Linear quadratic gaussian (LQG) controller for inverted pendulum
title_full	Linear quadratic gaussian (LQG) controller for inverted pendulum
title_fullStr	Linear quadratic gaussian (LQG) controller for inverted pendulum
title_full_unstemmed	Linear quadratic gaussian (LQG) controller for inverted pendulum
title_sort	linear quadratic gaussian (lqg) controller for inverted pendulum
granting_institution	Universiti Tun Hussein Malaysia
granting_department	Fakulti Kejuruteraan Elektrik dan Elektronik
publishDate	2013
url	http://eprints.uthm.edu.my/6717/1/24p%20NORHIDAYAH%20AHMAD.pdf http://eprints.uthm.edu.my/6717/2/NORHIDAYAH%20AHMAD%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/6717/3/NORHIDAYAH%20AHMAD%20WATERMARK.pdf
_version_	1747831087266004992

Linear quadratic gaussian (LQG) controller for inverted pendulum

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