Design and implementation of the inverted pendulum optimal controller based on hybrid genetic algorithm

Abstract. The inverted pendulum is a multivariable, rapid, nonlinear unstable system. LQR optimal control is often used in inverted pendulum control for its good stability. According to optimal determination problem of the weighting matrix Q and R in LQR, an improved hybrid genetic algorithm is adopted in LQR optimal controller design in double inverted pendulum and the optimal parameter values can be find by effective use of its intelligent search, progressive optimization features characters. This controller is successfully used in double inverted pendulum. The experimental results show that the optimal controller designed by this method has small overshoot and fast response. It can actually control the inverted pendulum system to achieve stability and proves the feasibility of the control method