LQR/PID controller design of PLC-based inverted pendulum

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dc.contributor.authorSirisantisamrid, Kaset
dc.contributor.authorWongvanich, Napasool
dc.contributor.authorGulpanich, Suphan
dc.contributor.authorTammarugwattana, Narin
dc.date.accessioned2026-08-06T10:18:47Z
dc.date.available2026-08-06T10:18:47Z
dc.date.issued2018-01-01
dc.description.abstractThis paper presents an LQR based PID controller to control the inverted pendulum system. The control design employs a control zoning approach whereby the entire pendulum system is divided into two regions: a normal pendulum region and the inverted pendulum region where the system is approximately linear close to the upright position. The LQR architecture is used to obtain optimal gains for the PID controller. An algebraic approach is also presented for selection of Q and R matrices. Experimental implementations with a PLC based system show that the computed gains yield the most stable controlled responses compared to the gains chosen through trial and errors.
dc.identifier.citationLecture Notes in Engineering and Computer Science, 2233, 422-427, 2018
dc.identifier.issn20780958
dc.identifier.other2-s2.0-85058707311
dc.identifier.urihttps://dspace.kmitl.ac.th/handle/123456789/8258
dc.sourceLecture Notes in Engineering and Computer Science
dc.subjectInverted Pendulum
dc.subjectLQR control
dc.subjectPID control
dc.subjectPLC
dc.titleLQR/PID controller design of PLC-based inverted pendulum
dc.typeConference Paper

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