Experimental Validation of PID and LQR Control Techniques for Stabilization of Cart Inverted Pendulum System

This paper describes the design and implementation of control strategies for the stabilization of a Cart Inverted Pendulum system. An experimental model of the system is considered for the design of controllers. The real-time implementation is done by employing a two-loop PID controllers for the system where the gain values are pre-determined by using Frequency Response and Linear-Quadratic Regulator(LQR) methods. A comparison is made between the proposed design strategies in terms of steady state and transient performance parameters. It is observed that Linear-Quadratic method exhibits superior performance as compared to frequency response method.