Control Of Rotary Inverted Pendulum System Based On T-S Model

As a complicated, high speed, non-linear, multivariable, strongly coupled, naturally unstable non-minimum phase system, inverted pendulum represents the under-driven control family. In the study of many control methods researchers always lack proper controlled objects, thus lose the opportunity to further the research work and lead to the waste of valuable research resources. Inverted pendulum is a kind of ideal controlled objects platform with its simple structure and relatively low cost. In the family of inverted pendulum, rotary inverted pendulum stands out as effective testing equipment in the experiment and research of control strategies. Under the help of it, various abstract control concepts such as stability, controllability, convergence speed and noise resistance can be displayed conspicuously.This paper analytically investigates the structure of rotary inverted pendulum and the latest relative research productions at home and abroad. On this basis, the non-linear mathematical model of the utilized system is formulated by Lagrange method, then built the T-S model of rotary inverted pendulum system. Based on this T-S model, we first design the global LQR controller by so called parallel distributed compensation. But this controller doesn't think about the input and state constraints; so think about the constraints, we design the stare feedback constraints H∞controller, by using linear matrix inequality (LMI).At the end of paper, we design the swing up controller, and do the experiments combining those two controllers.