Improved performance of cart inverted pendulum system using LQR based PID controller and ANN

In this paper, new approach is proposed for stabilization of a cart inverted pendulum system using Linear Quadratic Regulator (LQR) based PID controller and Artificial Neural Network (ANN). The proposed approach is compared with the recently published approach on designing of PID controller using LQR. It is observed that the proposed design shows better performance and disturbance rejection.