Control Parameter Optimization and Its Reverberations for Real-Time Rotary Inverted Pendulum

Rotary inverted pendulum is a highly nonlinear, multivariable and dynamically unstable system. Non-subjective nature of the system builds an intriguing problem in control theory. This work focus on design of Optimal Linear Quadratic Regulator (LQR) Control for swing up and stabilization of rotary inverted pendulum in the inverted position. Optimal parameters are determined on the basis of error curve with a perspective of Travelling Salesman Problem merged with Ant Colony Optimization. The key factors contemplated are Integral Square error and Optimum Course by length. Results showcases that apart from existing performance indices, it is obligatory to consider optimum course by length as one of the parameter for optimal control.