Stabilization Control of Triple Pendulum on a Cart

In this paper, the design of the triple inverted pendulum system which is added to the laboratory systems within the scope of academic studies is mentioned and the parameters of the generated system are explained. The mathematical model of the system is given in detail. The stabilization control of the triple pendulum on a cart is carried out in the MATLAB/Simulink for real-time applications targeted for future work. LQR and LQG control structures which are the optimal control methods have been examined and their features have been elaborated. Both control structures are applied to the system. The stability of the pendulums at the upper equilibrium when the cart is in the reference position is provided in both control methods.