Adaptive Dynamic Programming Based Linear Quadratic Regulator Design for Rotary Inverted Pendulum System

Abstract

The rotary inverted pendulum system is an inherently unstable system with highly nonlinear dynamics. It is used for design, testing, evaluating and comparing of different classical and contemporary control techniques. The goal of this project is to design an ADP based LQR controller for the rotary inverted pendulum system. Here model-based policy iteration algorithm is used to design the ADP based LQR controller. The swing-up and balance control is also implemented for the rotary inverted pendulum system using ADP based LQR controller gain. The response of the rotary inverted pendulum system with conventional LQR controller, ADP based LQR controller, swing-up and balance control is illustrated using MATLAB–SIMULINK platform. The result obtained after comparing the ADP based LQR controller response with conventional LQR controller, the rotary inverted pendulum system is stabilized faster with ADP based LQR controller and the swing-up and balance control response of the rotary inverted pendulum system has also improved due to ADP based LQR controller gain.