Optimization of LQR weighting matrices for a rotary inverted pendulum using intelligent optimization techniques

The Linear Quadratic Regulator is the effective controller for it guarantees stability and also is robust but the choice of optimum weighting matrices Q and R is crucial for obtaining the feedback gain. The feedback gain affects the poles of the closed loop system, which in turn determines the time domain characteristics of the system. In this paper an attempt has been made for proper choice of the weighting matrices through a few intelligent optimization techniques. Using those Q and R matrices the LQR designed is applied on to a nonlinear unstable system, a rotary inverted pendulum to verify the performance.