Research On The Stability-Control Of Inverted Pendulum Systems

The control of inverted pendulum system has long been considered an intriguing problem for control theory and its applications. It is well known as a test bed for new control theory and techniques. As a highly nonlinear and unstable system, the stabilization control of inverted pendulum system is a primary challenge for researchers in this field because of the difficulty of the problem.After concisely introducing the development and current situation of inverted pendulum system research, the mechanism and mathematical model of inverted pendulum are presented. Mathematical model of the higher four level inverted pendulum is particularly educed in this chapter.Secondly, the thesis discusses mainly the control methods of inverted pendulum system based on modern control theories and intelligent control theories. Many simulation researches on the stability of inverted pendulum have been done using MATLAB and SIMULINK. At last, a digital control system composed of the single chip computer(80C196) and its peripheral circuit is designed in this paper to control inverted pendulum system. The hardware and software of the system have been designed and tested.The research of this thesis based on definite theory, including the eduction of mathematical model, discussion of methodology and the design of real system. What's more, the research object is rather typical. So this research has an important academic and practical significance.