On LQR controller design for an inverted pendulum stabilization

Linear quadratic regulator (LQR) is a control strategy that has found a wide range of applications. Even though LQR possesses high performance and good robustness, designing these controllers has been proved to be difficult, primarily due to lacking of a proper selection methodology to select Q and R weighing matrices. In this paper, we propose a deterministic approach to their selection, giving the designer actual control over performance parameters. This method has been by validated by applying it to the stabilization of a practical inverted pendulum system. MATLAB simulation results reveal that the proposed method results in good stability, settling time and overshoot.

Automated summary

This paper presents a deterministic approach for selecting the Q and R weighting matrices in LQR, allowing the designer to have control over performance parameters. The method is validated by applying it to the stabilization of a practical inverted pendulum system, resulting in good stability, settling time, and overshoot.