Abstract: To design a controller with LQR compound PID for LQR\'s deficiency in single Inverted Pendulum control .And write and compile the control programs in Borland C language . The single Inverted Pendulum was controlled successfully and the result of control has a great improvement than the single LQR in rejecting a sudden disturbance.KeyWords: inverted pendulum; Compound control; LQR;PID
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