LQG Control Design for Balancing an Inverted Pendulum Mobile Robot

Ragnar Eide, Per Magne Egelid, Alexander Stamsø, Hamid Reza Karimi

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DOI: 10.4236/ica.2011.22019                

Abstract

The objective of this paper is to design linear quadratic controllers for a system with an inverted pendulum on a mobile robot. To this goal, it has to be determined which control strategy delivers better performance with respect to pendulum’s angle and the robot’s position. The inverted pendulum represents a challenging control problem, since it continually moves toward an uncontrolled state. Simulation study has been done in MATLAB Simulink environment shows that both LQR and LQG are capable to control this system successfully. The result shows, however, that LQR produced better response compared to a LQG strategy.

Keywords

LQG Control, Inverted Pendulum, Mobile Robot

Conflicts of Interest

The authors declare no conflicts of interest.

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