Swing-Up And Stabilization Research And Design Of A Cart-Pendulum Control System

As an absolute unstable controlled object, inverted pendulum is a high order, nonlinear, strong coupling plant. So it is a classic system that can reflect many problems which exist in control realm. Inverted pendulum is a very important plant. In theory it may prove the ability of a new control technique when researchers tackle a high order, unstable, nonlinear, strong coupling system. And in application many equipments such as aviation, robots cannot do without it. The inverted pendulum plant is in common use in control theory teaching and research as it is also so cheap and easy to get. So it is amusing and valuable for a senior student to do research on this subject.There are several important parts in this paper. Firstly the development of inverted system in relation to the progress of the control theory is introduced. Then, the single inverted pendulum system modeling is based on Lagrangian . After linearization the state equation of the system is deduced, which is the foundation of the subsequent work. Then in the next two chapters, the method of energy feedback is introduced to upswing, LQR and the poles placement are proposed to complete the stabilization control of the inverted pendulum. The controller is designed, afterwards the feedback vector is calculated by hand and by the matlab software, based on which the author simulates the control system with the tool simulink. In the last two chapters, the software of the system is made and it achieved real time control in simulink real time workshop and visual C++ 6.0 . Finally, the effectiveness of the proposed controller is demonstrated by simulation and experiment. And we can see that the stabilization control of the inverted pendulum based Lagrangian is not depended on the accuracy of some parameters of the actual system.