Stability Control Of Inverted Pendulum System

Inverted pendulum is a nonlinear, coupling, variable and natural unsteadiness system. During the control process, pendulum can effectively reflect many pivotal problems such as equanimity, robust, follow-up and track. Therefore, it is a perfect model used to testing various control theories. The stabilization control of inverted pendulum system is a primary challenge for the researchers in the controlling field because of the difficulty of the problem.In this paper, we establish mathematical models of single, double and triple inverted pendulum system, and analyze the controllability and observability of these models. According to the theoretical analysis, this paper puts forward a solution that it is found by Linear Quadratic Optimal Control Theory. In the following, we design a double inverted pendulum's controller based on the theory.This paper, based on the study in the theory of Hardware in Loop technology, build a real-time control workspace with MATLAB RTW real-time toolbox. Finally we successfully accomplish the double pendulum experiment in the workspace, and give a necessary analysis of the results. This workspace has some universality and can be used in the study of other control arithmetic.