Optimal LQG controller design for inverted pendulum systems using a comprehensive approach

Abstract Controlling nonlinear systems, such as the inverted pendulum on a moving cart, presents a well-known challenge due to the system’s nonlinearities and highly coupled states. This paper explores the control methodology of the system by linearizing the dynamics around the pendulum’s upright po...

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Detalhes bibliográficos

Principais autores:	Monika Rani, Sushma S. Kamlu
Formato:	Artigo
Idioma:	Inglês
Publicado em:	Nature Portfolio 2025-02-01
Colecção:	Scientific Reports
Assuntos:	Inverted pendulum Proportional-integral-derived (PID) control Linear quadratic regulator design (LQR) Linear quadratic Gaussian control (LQG) Model predictive controller (MPC)
Acesso em linha:	https://doi.org/10.1038/s41598-025-85581-3
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