Study On Control Method Of Two Stage Inverted Pendulum

Double inverted pendulum could effectively reflect the dynamic nature such as the dynamic nature, robustness, tracking performance and stabilizability etc which were a number of key issues in the field of automatic control. The paper tested the control method of the instability through the inverted pendulum, nonlinear and the fast processing capabilities of the system which was used method in a control area and scholars frequently.The control methods of pairs of inverted pendulum were also widely used in military, aerospace, robotics and other areas.The paper described the background and research development status of inverted pendulum control system. The paper introduced the establishment of the mathematical model of two level inverted pendulum control system (state equation) detailly. The paper used modern control theory analysising the controllability, observability and stability of two level inverted pendulum system. And the paper identified conditions of real-time control of two levels an inverted pendulum. The paper researched the pole placement control method of inverted pendulum system. The paper introduced the simplex optimization algorithm detailly. The paper optimized the controller parameters of pairs of pole placement control method. The paper optimized the tangible results. The paper designed parameters optimization computer programs for poles configuration method, in which poles are random choosed. The paper simplified the process of striking controller parameters. The paper increased the efficiency of striking the parameters greatly. And the paper used the obtaining parameters in the control experiment which illustrated the effectiveness of the optimization algorithm. For the inverted pendulum system the paper also researched the control method of sliding mode of variable structure, and optimized the controller parameters which optimizated the tangible results. The paper designed parameters optimization computer programs for sliding model control method, in which control parameters are random choosed. And the paper used the obtaining parameters in the control experiment which illustrated the effectiveness of the optimization algorithm.The paper showed the method of obtaining the controller parameters was an effective method of obtaining the controller parameters for the inverted pendulum system which was described in this paper by simulation and physical experiment results. The paper method could be applied to a variety of control methods and solved the problem of obtaining parameters of different control methods which was difficut.