Thi-Hong-Lam Le*, Khanh-Hung Pham, Dinh-Luan Pham, Gia-Dat Tong, Le-Thanh-Dat Nguyen, Trinh-Anh-Tuan Ngo, Xuan-Tuan Le, Minh-Tuan Nguyen
1 Ho Chi Minh City University of Technology and Education (HCMUTE)
Vo Van Ngan St., No.01, Thu Duc city, Ho Chi Minh City, 700000, Vietnam
* Corresponding author. E-mail: lamlth@hcmute.edu.vn
Robotica & Management, Vol. 29, No. 1, pp. 03-08
DOI: https://doi.org/10.24193/rm.2024.1.1
Abstract: This study presents a simulation-based investigation into the application of a Cascade Proportional-Integral-Derivative (PID) combined with Linear Quadratic Regulator (LQR) control scheme for managing the complexities of a Nonlinear Flexible Inverted Pendulum System (NFIPS). The NFIPS, characterized by nonlinear dynamics and structural flexibility, demands a sophisticated control strategy to achieve stable and precise performance. The proposed Cascade PID-LQR scheme integrates the advantages of PID for addressing nonlinearities and LQR for optimizing linearized dynamics. Through comprehensive simulations, the effectiveness of the proposed control scheme is evaluated, emphasizing its potential in enhancing stability, response speed, and robustness. The study contributes valuable insights into the application of advanced control methodologies in handling nonlinear and flexible systems, paving the way for further exploration and practical implementations in related domains such as robotics and mechatronics.
Keywords: Nonlinear flexible inverted pendulum, NFIPS, cascade PID-LQR controller, stabilization control.
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