TY  - JOUR
T1  - Comparison of a Triple Inverted Pendulum Stabilization using Optimal Control Technique
AU - Jibril, Mustefa AU - Alemayehu Tadese, Eliyas AU - Tadese, Messay 
JO  - International Journal of Electrical and Power Engineering
VL  - 14
IS  - 6
SP  - 60
EP  - 67
PY  - 2020
DA  - 2001/08/19
SN  - 1990-7958
DO  - ijepe.2020.60.67
UR  - https://makhillpublications.co/view-article.php?doi=ijepe.2020.60.67
KW  - linear quadratic regulator
KW  -Inverted pendulum
KW  -pole placement
KW  -strongly
KW  -controllers
AB  - In this study, modelling design and analysis of
a triple inverted pendulum have been done using
MATLAB/Script toolbox. Since, a triple inverted
pendulum is highly nonlinear, strongly unstable without
using feedback control system. In this study, an optimal
control method means a linear quadratic regulator and
pole placement controllers are used to stabilize the triple
inverted pendulum upside. The impulse response
simulation of the open loop system shows us that the
pendulum is unstable. The comparison of the closed loop
impulse response simulation of the pendulum with LQR
and pole placement controllers results that both
controllers have stabilized the system but the pendulum
with LQR controllers have a high overshoot with long
settling time than the pendulum with pole placement
controller. Finally, the comparison results prove that the
pendulum with pole placement controller improve the
stability of the system.
ER  -