Extension Control Strategy And Experiment Study On Pendulum System

Inverted pendulum is a typical model of multivariable, nonlinear, absolutely unstable system, and the study of inverted system has the more important meaning on both the theory and methodology. Which interests many researchers of control theories in illustrating their new ideas in control by them. Therefore inverted pendulums have been classic objects in the control laboratories. Extension control that is based on matter element and extensics is a new branch of the intelligent control. Extensics brings forward the basic idea on transforming inconsistency to consistency. This paper, based on this idea and integrating related literature and information, applies extension theories and methods to control inverted pendulum system and brings forward the arithmetic of extension control, and deeply research which.In this paper, the histories of inverted pendulum system and extension control theory are discussed briefly. After that the extension control theory (the basic concept of extension control , the structure , the theory and the design method of extension controller) is discuss, and the configurations, work principle and statement equations of single or double inverted pendulum systems are discussed respectively. In the study of modern control theories, pole assignment and LQR are designed on inverted pendulum systems, and the MATLAB simulation is researched. In the extension field of extension control, extension controller is designed, and its simulation is also designed. Furthermore, a newly extension control algorithm of inverted pendulum system is given. Some control methods are tested in the real inverted pendulum system, and the program is also provided. At last, conclusions are given and some suggestions for further development are bring forward.