Optimal Control and Balancing of Double Inverted Pendulum using Linear Quadratic and Model Predictive Controller

Musab Alsheikh; Luay Elkhider; Abdul Wahid A. Saif

doi:10.1109/SSD58187.2023.10411273

Optimal Control and Balancing of Double Inverted Pendulum using Linear Quadratic and Model Predictive Controller

Musab Alsheikh^*
, Luay Elkhider
, Abdul Wahid A. Saif

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper compares two linear control methods, LQR and MPC, in the context of controlling and stabilizing the Double Inverted Pendulum, a highly unstable and nonlinear system. While the use of LQR to control this system is well-established, MPC has emerged as an alternative that has shown to be effective. The study examines the impact of incorporating Laguerre functions in the MPC approach, as it has the potential to reduce computational load while maintaining dynamic performance. The results were obtained through simulations conducted in MATLAB.

Original language	English
Title of host publication	2023 20th International Multi-Conference on Systems, Signals and Devices, SSD 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	509-513
Number of pages	5
ISBN (Electronic)	9798350332568
DOIs	https://doi.org/10.1109/SSD58187.2023.10411273
State	Published - 2023
Event	20th International Multi-Conference on Systems, Signals and Devices, SSD 2023 - Mahdia, Tunisia Duration: 20 Feb 2023 → 23 Feb 2023

Publication series

Name	2023 20th International Multi-Conference on Systems, Signals and Devices, SSD 2023

Conference

Conference	20th International Multi-Conference on Systems, Signals and Devices, SSD 2023
Country/Territory	Tunisia
City	Mahdia
Period	20/02/23 → 23/02/23

Bibliographical note

Publisher Copyright:
© 2023 IEEE.

Keywords

Inverted pendulum
Laguerre functions
linear quadratic
model predictive
stabilization

ASJC Scopus subject areas

Artificial Intelligence
Computer Science Applications
Computer Networks and Communications
Information Systems
Signal Processing
Health Informatics
Instrumentation

Access to Document

10.1109/SSD58187.2023.10411273

Cite this

Alsheikh, M., Elkhider, L., & Saif, A. W. A. (2023). Optimal Control and Balancing of Double Inverted Pendulum using Linear Quadratic and Model Predictive Controller. In 2023 20th International Multi-Conference on Systems, Signals and Devices, SSD 2023 (pp. 509-513). (2023 20th International Multi-Conference on Systems, Signals and Devices, SSD 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SSD58187.2023.10411273

Alsheikh, Musab ; Elkhider, Luay ; Saif, Abdul Wahid A. / Optimal Control and Balancing of Double Inverted Pendulum using Linear Quadratic and Model Predictive Controller. 2023 20th International Multi-Conference on Systems, Signals and Devices, SSD 2023. Institute of Electrical and Electronics Engineers Inc., 2023. pp. 509-513 (2023 20th International Multi-Conference on Systems, Signals and Devices, SSD 2023).

@inproceedings{8981290e129846b98b6b96c7fed1556d,

title = "Optimal Control and Balancing of Double Inverted Pendulum using Linear Quadratic and Model Predictive Controller",

abstract = "This paper compares two linear control methods, LQR and MPC, in the context of controlling and stabilizing the Double Inverted Pendulum, a highly unstable and nonlinear system. While the use of LQR to control this system is well-established, MPC has emerged as an alternative that has shown to be effective. The study examines the impact of incorporating Laguerre functions in the MPC approach, as it has the potential to reduce computational load while maintaining dynamic performance. The results were obtained through simulations conducted in MATLAB.",

keywords = "Inverted pendulum, Laguerre functions, linear quadratic, model predictive, stabilization",

author = "Musab Alsheikh and Luay Elkhider and Saif, \{Abdul Wahid A.\}",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 20th International Multi-Conference on Systems, Signals and Devices, SSD 2023 ; Conference date: 20-02-2023 Through 23-02-2023",

year = "2023",

doi = "10.1109/SSD58187.2023.10411273",

language = "English",

series = "2023 20th International Multi-Conference on Systems, Signals and Devices, SSD 2023",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "509--513",

booktitle = "2023 20th International Multi-Conference on Systems, Signals and Devices, SSD 2023",

address = "United States",

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Alsheikh, M, Elkhider, L & Saif, AWA 2023, Optimal Control and Balancing of Double Inverted Pendulum using Linear Quadratic and Model Predictive Controller. in 2023 20th International Multi-Conference on Systems, Signals and Devices, SSD 2023. 2023 20th International Multi-Conference on Systems, Signals and Devices, SSD 2023, Institute of Electrical and Electronics Engineers Inc., pp. 509-513, 20th International Multi-Conference on Systems, Signals and Devices, SSD 2023, Mahdia, Tunisia, 20/02/23. https://doi.org/10.1109/SSD58187.2023.10411273

Optimal Control and Balancing of Double Inverted Pendulum using Linear Quadratic and Model Predictive Controller. / Alsheikh, Musab; Elkhider, Luay; Saif, Abdul Wahid A.
2023 20th International Multi-Conference on Systems, Signals and Devices, SSD 2023. Institute of Electrical and Electronics Engineers Inc., 2023. p. 509-513 (2023 20th International Multi-Conference on Systems, Signals and Devices, SSD 2023).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Elkhider, Luay

AU - Saif, Abdul Wahid A.

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Y1 - 2023

N2 - This paper compares two linear control methods, LQR and MPC, in the context of controlling and stabilizing the Double Inverted Pendulum, a highly unstable and nonlinear system. While the use of LQR to control this system is well-established, MPC has emerged as an alternative that has shown to be effective. The study examines the impact of incorporating Laguerre functions in the MPC approach, as it has the potential to reduce computational load while maintaining dynamic performance. The results were obtained through simulations conducted in MATLAB.

AB - This paper compares two linear control methods, LQR and MPC, in the context of controlling and stabilizing the Double Inverted Pendulum, a highly unstable and nonlinear system. While the use of LQR to control this system is well-established, MPC has emerged as an alternative that has shown to be effective. The study examines the impact of incorporating Laguerre functions in the MPC approach, as it has the potential to reduce computational load while maintaining dynamic performance. The results were obtained through simulations conducted in MATLAB.

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KW - Laguerre functions

KW - linear quadratic

KW - model predictive

KW - stabilization

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U2 - 10.1109/SSD58187.2023.10411273

DO - 10.1109/SSD58187.2023.10411273

M3 - Conference contribution

AN - SCOPUS:85185823765

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BT - 2023 20th International Multi-Conference on Systems, Signals and Devices, SSD 2023

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 20th International Multi-Conference on Systems, Signals and Devices, SSD 2023

Y2 - 20 February 2023 through 23 February 2023

ER -

Alsheikh M, Elkhider L, Saif AWA. Optimal Control and Balancing of Double Inverted Pendulum using Linear Quadratic and Model Predictive Controller. In 2023 20th International Multi-Conference on Systems, Signals and Devices, SSD 2023. Institute of Electrical and Electronics Engineers Inc. 2023. p. 509-513. (2023 20th International Multi-Conference on Systems, Signals and Devices, SSD 2023). doi: 10.1109/SSD58187.2023.10411273

Optimal Control and Balancing of Double Inverted Pendulum using Linear Quadratic and Model Predictive Controller

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this