Modified PDOS-based LQG Controller for Inverted Pendulum | ||||
| Menoufia Journal of Electronic Engineering Research | ||||
| Article 2, Volume 28, Issue 1, January 2019, Page 19-44 | ||||
| Document Type: Original Article | ||||
| DOI: 10.21608/mjeer.2019.62719 | ||||
 View on SCiNiTO | ||||
| Authors | ||||
| Mohammad EL-Hossainy* ; Raafat Shalaby; Belal Abo-Zalam | ||||
| Department. of Industrial Electronics and Control, Faculty of Electronic Engineering, Menoufia University | ||||
| Abstract | ||||
| This paper deals with the holing issue of inverted pendulum (IP) system. In traditional LQG controller, trying out various Q and R weights are mandatory to achieve the optimum gains of the state feedback controller. This trial-and-error process is time consuming, cumbersome and leads, usually, to a non-optimized response for IP system. ModifiedPrescribed Degree of Stability (PDOS)-basedLQG controller (MLQG) is proposed to stabilize the IP. The proposed Pendulum swing-upwhich is based on total energy shaping is firstly surveyed.MLQG is supported by simulation experiments and is intensively tested and compared to PD and LQG controllers. The simulation results proved the competitiveness and the capability of the proposed schemeto stabilize the IP to a predetermined degree of stability with optimized response. | ||||
| References | ||||
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