JIC_V4_N4_RP4 Kalyani Sharma Vikas Sahu Journal on Instrumentation & Control Engineering 2321–1148 4 4 31 36 Triple Link Inverted Pendulum (TLIP), LQR (Linear Quadratic Regulator), Observer-based LQR Controller In this paper the main aim is to stabilize the Triple Link Inverted Pendulum (TLIP) system on a cart. The mathematical model and state space dynamics of the TLIP system is discussed. The TLIP system is inherently unstable, so a Linear Quadratic l Regulator Design (with a degree of stability) is presented. The stability, controllability, and observability are investigated. The choice of weighting matrices in LQR is also discussed. Then an Observer-based controller is designed for the TLIP system. The simulation is done with MATLAB environment and a comparative study of the time domain characteristics are shown. August - October 2016 Copyright © 2016 i-manager publications. All rights reserved. i-manager Publications http://www.imanagerpublications.com/Article.aspx?ArticleId=8231