4
$\begingroup$

As far as i can tell, both LQR and PID controllers can both be applied to the cart-pole (inverted pendulum) problem. What are the pros/cons to using one controller over the other for this particular problem? Are there any reasons/situations where I should prefer one over the other for this problem?

$\endgroup$
1
  • $\begingroup$ You might consider a somewhat related question. $\endgroup$ Jan 23, 2015 at 21:19

1 Answer 1

4
$\begingroup$

You are correct in claiming that both PID and LQR can be applied to the linearized form of the cart-pole problem. If you have a look at the answers to the related question Ugo linked to in the comments (specifically Ugo's own answer: https://robotics.stackexchange.com/a/5231/10414), you will see the high level differences between PID (and other classic methods) and LQR (and other optimal methods) for control.

For a more detailed analysis specifically focused on the cart-pole problem, an article was written by Nasir et al which specifically deals with this question, available as a cached PDF on CiteSeerX: http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.545.6096.

$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge that you have read and understand our privacy policy and code of conduct.

Not the answer you're looking for? Browse other questions tagged or ask your own question.