Study On Variable Structure Control Of Inverted Pendulum

It attracted many scholars with the characteristics such as strong robust, matching uncertain factor and adaptive to disturber. Variable structure control has become an important embranchment in control science field. This paper makes reference to many papers, then it introduces the conception and the method to design a controller to inverted pendulum. Simulation and experiment are made as checkout.However, twitter blocks variable structure control's development, its excellence is at the cost of twitter. Some practical controller and executor can not switch so much. So this paper pay attention to frequent twitter. This paper research on the cause of twitter and how to reduce it. Then I introduced dummy sliding mode control, exponential approach law and modified exponential apporach law to modify controller, which make the system reaches better response than before.Optimum Control has been widely used because of its quick responsment and simple designed. While it is not suitable for uncertainty system, I consider Optimum Control and variable structure control each has merit and disadvantage then I combine them together to make a better controller.Because Inverted pendulum system is a high rank unstable system, I introduce adaptive strategy to uncertainty in the system, which could estimate the error. According to Lyapunov stable theory and some rational hypothesis to design the inputting. This method made the system with stronger robust to disturbance from outside. Then I proved it and made the simulation and experienced on two inverted pendulum system.