Design and Implementation of LQR-Based Balance Control for a Custom-Built Rotary Pendulum based Self-Balancing Robot

This paper presents the implementation of a Linear Quadratic Regulator (LQR) for balancing control of both rotary inverted pendulum and rotary inverted pendulum based self balancing bot. A self-balancing bot based on the principle of rotary inverted pendulum is designed to maintain stability at an unstable configuration. Results obtained from the balancing of rotary inverted pendulum is analyzed and discussed. Hardware prototype of rotary inverted pendulum based self-balancing bot was built and LQR controller has been implemented to test the real environment performance of LQR for rotary inverted pendulum based self balancing bot.