Controller Design And Studies On Real-Time Control Of The Lined Single Inverted Pendulum Based On Backstepping And MATLAB/Simulink

Inverted Pendulum is absolute instable,high,variable and high coupling typical nonlinear systems which is a idea model to verify whether new control theory and methods,so it has very important theoritical significance and applicable value for the paper to choose the Inverted Pendulum as the research object.Contrast to other methods of doing research on Inverted Pendulum,the best advantage of Backstepping is that it does not need linearization of system,the people can design the controller of systems derectly and recursivly leaving the useful nonlinear terms,so it more close to the reality of controlled objects,and the controller has very strong robust.The main studies in This paper is that the controller of the lined single Inverted Pendulum has been designed using Backstepping and that doing some outline-simulinks based on MATLAB/Simulink and studies about real-time control.The main works or to achieve the main function is as follows:First,this paper gives mathematical model of the lined single Inverted Pendulum,the nonlinear controller of this system using Backstepping is designed,then there are some numerical simulinks by MATLAB and make some contrast to other methods.In fact,the works done by the paper have the chacters that the method is novel and the control effects is very good contrast to the works at present.Second,some outline simulinks in the environment of MATLAB/Simulink have been done using the controller designed and do some contrast with the effects of the controller given by Googol Tech.Third,at present the studies on the Inverted Pendulum is only wihtin Theory analysis or the numerical simulink but be little of experiment analysis,this paper built the control platform by the MATLAB-RTW,that is to say,the simulink model which is built according to the controller designed is put in the inner of real-time control to drive the external facilities,and then achieve the real-time control of Inverted Pendulum.Four,new studies have been done on the platform of the controller given by Googol Tech using the controller given by Googol Tech,which give some new directions in the studies and teaching of the Inverted Pendulum.The general arrangement of this paper is as follows:The first chapter is the introduction to the backgrounds,present research situation and the developing prospect of the Inverted Pendulum, the main works,significance of these works and the creatives in the paper; The second chapter is the introduction to fundmental knowledge in control theory and principles of Backstepping;The third chapter is the design of controller and numerical simulink;The fourth chapter is the outline simulink;The fifth chapter is real-time control studies;The sixth chapter isconclusion and prospects...