Stabilization and Performance Analysis of an Inverted Pendulum using Classical and Intelligent Control Techniques
Shrutosom Mukherjee1, Mrinal Buragohain2
1Shrutosom Mukherjee, Department of Electrical Engineering, Jorhat Engineering College, Jorhat (Assam), India.
2Dr. Mrinal Buragohain, Professor, Department of Electrical Engineering, Jorhat Engineering College, Jorhat (Assam), India.
Manuscript received on 16 April 2025 | First Revised Manuscript received on 23 April 2025 | Second Revised Manuscript received on 04 May 2025 | Manuscript Accepted on 15 May 2025 | Manuscript published on 30 May 2025 | PP: 27-35 | Volume-14 Issue-6, May 2025 | Retrieval Number: 100.1/ijitee.F109214060525 | DOI: 10.35940/ijitee.F1092.14060525
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC-BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: The inverted pendulum system is a classical benchmark in control theory, known for its nonlinear and unstable dynamics. This paper presents a comparative study of three advanced control strategies: Linear Quadratic Regulator (LQR), Model Predictive Control (MPC), and Fuzzy Logic Control (FLC) for stabilizing an inverted pendulum system. Each controller is designed to stabilize the pendulum upright while minimizing the cart displacement. Performance is evaluated based on settling time, rise time, steady-state error, and control effort under nominal and perturbed conditions, including varying pendulum mass and initial angle. Results indicate that while LQR offers a fast response, it demands high control energy. MPC ensures precise tracking but is computationally intensive. FLC provides a robust and energy-efficient balance, making it ideal for uncertain environments.
Keywords: Control Effort, Fuzzy Logic Control, Inverted Pendulum, LQR, MPC, Robustness.
Scope of the Article: Control and Automation