Real-time Adaptive Linear Quadratic Regulator Control for the QUBE–2 Rotary Inverted Pendulum

This repository contains code and experimental resources related to the research project:

Real-time Adaptive Linear Quadratic Regulator (LQR) Control for the QUBE–2 Rotary Inverted Pendulum

Overview

The objective of this work is to develop and validate a real-time adaptive LQR control framework for the QUBE–2 rotary inverted pendulum platform. The repository includes control algorithms, simulation models, experimental data, and documentation required to reproduce the reported results.

Paper Status

📝 Published: 26 February 2026

Availability

All source code, datasets, and supporting materials are publicly available.

Hardware Platform

• QUBE–2 Rotary Inverted Pendulum (Quanser)

Read the full paper

You can read the full paper here.

Citation

If you use this work in your research, please cite the associated paper.
Citation details will be provided upon publication.

@article{lopez2026real,
  title={Real-Time Adaptive Linear Quadratic Regulator Control for the QUBE--2 Rotary Inverted Pendulum},
  author={Lopez-Jordan, Cynthia and Jafari, Mohammad},
  journal={Mathematical and Computational Applications},
  volume={31},
  number={2},
  pages={33},
  year={2026},
  publisher={MDPI}
}