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A simulated study of three different control strategies to stabilize an inverted pendulum on a cart is presented in this paper. Linear Quadratic Regulator (LQR), Integer order PID (IOPID) and Fractional order PID (FOPID) are designed, applied and compared. A nonlinear model of the cart-pendulum system is first derived and used later in the simulation of the control strategies aforementioned. The tuning...
In this paper, a simulated study of three different control strategies; Linear Quadratic Regulator (LQR), Integer order PID and Fractional order PID (FOPID), is performed in order to stabilize an inverted pendulum on a cart. First, a nonlinear model of the cart-pendulum system is presented which is used later in the simulations. The tuning parameters of all three controllers are obtained using the...
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