Control Technology Research Of Multilevel Inverted Pendulum

This paper has three purposes: One is designing the controllers of double and triple inverted pendulum based on Linear Quadratic Optimal Control Theory. The second is studying double and triple inverted pendulum system through their simulations. The third is researching the practicality control experimentation of double and triple inverted pendulum system.In this paper, firstly, we establish mathematics model of double and triple inverted pendulum system by use of Lagrange equation based on the present pendulum system in laboratory. Then, we design double inverted pendulum's controller based on Linear Quadratic Optimal Control Theory, we have double system simulation in Simulink. Simulation results are analyzed and researched. In the following, we design triple inverted pendulum's controller based on Linear Quadratic Optimal Control Theory, have triple system simulation in Simulink, and research the relations between its control performances and structural parameters of triple inverted pendulum. Finally, we do double and triple experiments in the present pendulum system, and then research experiment results.The paper has three research results: one is that double inverted pendulum have been stabilized by using of Linear Quadratic Optimal Control Theory. Secondly, an experiential method of choosing Q and R is put up from engineering practices. Thirdly, those methods that can improve the control performances of double and triple inverted pendulum from mechanism structures and hardware circuits are put forward.