Complex Trajectory Tracking of Inverted Pendulum Using PID and LQR

Abstract

has been studied excessively in control literature. Trajectory tracking of the inverted pendulum is one issues in this field. In this paper, the three methods of controllers are applied to tracking control of inverted pendulum. Simulation results prove that the linear quadratic regulator (LQR) controller is better than (proportional-integral-derivative) PID controller with the white noise input in the tracking trajectory. PID controller and LQR controller both can tracking the trajectory very well.