Optimal Control Comparisons on a Flywheel Based Inverted Pendulum

This paper introduces a comparison between two optimal controllers on aflywheel-based inverted pendulum. Inverted pendulums have an essentialplace in developing under-actuation nonlinear control schemes due to theirnonlinear structure. This system is a basic structure for many advancedsystems such as biped and mobile wheeled robots. Optimal controllersaddressed in this paper consist of State-Dependent Riccati Equation (SDRE)and Linear Quadratic Regulator (LQR). A Proportional–Integral–Derivativecontroller (PID) is also designed and tested in the simulation. One axis selfbalancingflywheel based inverted pendulum system is designed to validate thecontrollers' performance on an experimental setup.

Keywords:

Inverted pendulum , State-Dependent Riccati Equation , Optimal control , Linear Quadratic Regulator , Flywheel