Control of Pendulum on a Cart with State Dependent Riccati Equations

State Dependent Riccati Equation (SDRE) approach is a modification of the well studied LQR method. It has the capability of being applied to control nonlinear systems. In this paper the technique has been applied to control the single inverted pendulum (SIP) which represents a rich class of nonlinear underactuated systems. SIP modeling is based on Euler-Lagrange equations. A procedure is developed for judicious selection of weighting parameters and constraint handling. The controller designed by SDRE technique here gives better results than existing controllers designed by energy based techniques.

Authors:

• N. M. Singh
• Jayant Dubey
• Ghanshyam Laddha

Keywords:

• State Dependent Riccati Equation (SDRE)
• Single Inverted Pendulum (SIP)
• Linear Quadratic Regulator (LQR)

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