Papers › PID Optimization Using Lagrangian Mechanics
PID Optimization Using Lagrangian Mechanics
Ethan Kou, Majid Moghadam
Creating a simulation of a system enables the tuning of control systems without the need for a physical system. In this paper, we employ Lagrangian Mechanics to derive a set of equations to simulate an inverted pendulum on a cart. The system consists of a freely-rotating rod attached to a cart, with the rod's balance achieved through applying the correct forces to the cart. We manually tune the proportional, integral, and derivative gain coefficients of a Proportional Integral Derivative controller (PID) to balance a rod. To further improve PID performance, we can optimize an objective function to find better gain coefficients.
Code
Repository list and official/mentioned flags are the archive's, frozen 2025-07-28. Reachability, where shown, is from one Syntology probe window (2026-09-16 to 2026-09-18); repositories not probed show nothing. GitHub stars are not tracked.
Code Syntology ran Syntology
Not run by Syntology. Nothing on this page verifies that the listed code works.
Results from the paper archive 2025-07-28
No leaderboard rows for this paper in the archive.
Report a problem or propose a change · a person checks every report against the paper or source before anything changes; decisions are listed on /corrections