Research On Controlling Methods Of Inverted Pendulum And Development Of Test Software On Windows

The inverted pendulum system is a nonlinear, coupling, variable and naturally unsteady system. During the process of control, pendulum can effectively reflect many pivotal problems, such as equanimity, robust, follow-up and track etc, so it is a perfect model used to testing various control theories.First, the structure and mathematical modeling of the inverted pendulum is introduced. Then make a study of its controlling methods, including model-reference adaptive control (MRAC) and Adaptive Neuro-Fuzzy Inference System (ANFIS), furthermore, respectively program them and attain their simulated diagram of curve in Matlab software.The inverted pendulum is a perfect test device to applying to teaching automatic control. However, in the PCS (Process Control System) Lab of automation department of Wuhan University, the test procedure of pendulum system is programmed with C language running in the DOS. For the realization of inverted pendulum control has a profound effect on make remote users testing true, the author designed and programmed in the Lab VIEW, and fulfilled the pendulum control based on Windows at last.