MODELING, SIMULATION AND STABILIZATION OF A DOUBLE QUAD INVERTED PENDULUM SYSTEM (DQIP) USING A LINEAR QUADRATIC REGULATOR (LQR) CONTROLLER

📄 Project Abstract

Inverted Pendulum phenomenon has been critical in the modeling and stabilization of space-ships, rockets, humanoid robots, etc and also in understanding classical control systems. This research is aimed at extending the modeling and complexity of the inverted pendulum from single-link or double-link to a multilink type, with particular emphasis on the double-quad inverted pendulum (DQIP) i.e. 8-link system. The nonlinear model of the DQIP was obtained using Eular-Lagrange formulation. To ease the analysis and control of the DQIP, the model was linearized using the Jacobi Matrix based on the Taylor's series expansion approach. In order to validate the linear model, a comprehensive Simulink model of the DQIP was developed from which the Quad Inverted Pendulum (QIP) model was extracted. The response of the extracted QIP model was then compared with the responses reported in literatures for other QIP models and was found to outperform them. LQR was introduced after it was confirmed that th...