Design of Linear Quadratic Regulator (LQR) Based on Genetic Algorithm for Inverted Pendulum
Abstract
One of the crucial problems in the dynamics and automatic control theory is balancing of an inverted
pendulum robot by moving a cart along a horizontal path. This task is often used as a benchmark for di erent
method comparison. In the practical use of the LQR method, the key problem is how to choose weight matrices
Q and R correctly. To obtain satisfying results the experiments should be repeated many times with di erent
parameters of weight matrices. These LQR parameters can be tuned by a Genetic Algorithm (GA) technique
for getting better results. In our paper, the LQR parameters weight matrices Q and R which were tuned using
the Genetic Algorithm. The simulations of the control problem are designed using MATLAB script code and
MATLAB Simulink on an inverted pendulum model. The results show that the Genetic Algorithm is suitable
for tuning the parameters to give an optimal response. The control problem of the inverted pendulum was solved
successfully.
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