Process Stabilization based on LQR Optimal Controller and Pole Placement

Abstract

In recent trend stabilization of the system is a very basic classical control problem in the field of the control system. Moreover, the techniques don't just stabilize the system, but improve the system response is having its significant impact. In this paper, a nonlinear system like an inverted pendulum has been utilized. The dynamics of an inverted pendulum on the cart are analogous to various real word applications like robot arm, missile launching system, balancing systems. The purpose of the control mechanism is to balance the pendulum. It has been done with optimally controlled Linear Quadratic Regulator (LQR). Stability analysis has been done with the classical pole placement method and the result has been compared with Linear Quadratic Regulator.