Balancing and Trajectory-Tracking by LQR Control for Linear Triple-Linked Pendubot

Abstract

Pendubot is a popular single input-multi output (SIMO) in laboratories to test control algorithms. In this paper, we focus on a developed model of pendubot – linear triple-linked pendubot (LTLP) and propose LQR to control this model. Through simulation, link 1 is kept balanced, kept following trajectories when link 2, 3 is kept upward under LQR control. Thence, besides balancing well this model at TOP position, our algorithm also makes system tracking sine and pulse trajectories well.

Keywords

• lqr algorithm
• pendubot
• optimal control
• simo system