Comparison of PPC and LQR Controller for Stabilization of Cart Pendulum System: Simulation and Real-Time Study

In the present work, mathematical modeling, simulation, and real-time study has been carried out for stabilization of cart pendulum system. Euler-Lagrange method is used to derive the mathematical dynamic model of the system. The actuator dynamics is included with developed model of the system to achieve more realistic model. Two different feedback controllers, Pole Placement and Liner Quadratic Regulator are used to control the inverted pendulum at unstable equilibrium system. Simulink environment is used to carry out the analytical simulation and the experimental work was conducted on Googoltech Linear Inverted Pendulum (GLIP) setup. The experiment results found in close agreement with analytical solutions. Both controllers have been compared to check the efficacy of the developed controllers. It has been found that LQR controller has 55.5% less amplitude of oscillations of pendulum at unstable position and 47.9% less control input as compared to Pole Placement controller.