ÇİFT TERS SARKAÇ SİSTEMİNİN DENGE VE KONUM KONTROLÜ İÇİN ARI ALGORİTMASI İLE LQR KONTROLCÜ PARAMETRELERİNİN TAYİNİ

Control theory for stabilization of the inverted pendulum is quite popular among researchers working in this field. The inverted pendulum with unstable and non-linear structure is system which commonly used for determining the performance of the current controller and designing new control theories. In this study, LQR controller has been designed with The Bees Algorithm (BA) for stabilization and position control of double inverted pendulum which is of three degrees of freedom. LQR controller parameters (Q and R) which are predesigned, optimised with The Bees Algorithm and obtained LQR gain matrix. Modelling of system, controller design and optimisation process has been carried out with MATLAB and MATLAB/Simulink program. Three different configurations were made selecting different The Bees Algorithm parameters for examining the effectiveness of the presented method which is scope of this study. Effect of the system response of LQR gain matrices have been simulated and results are presented graphically