Inverted Pendulum Control Based On MATLAB And Parameter Optimization

As a typical unstable nonlinear system, inverted pendulum system has simple structure, low cost and it can be controlled by kinds of methods, so the inverted pendulum system is often used to test various control methods to know whether they are good or bad. The difficulty of inverted pendulum control is swing-up control. There are many research achievements about it now, but most of the researches are on the premise of that the track of the car is long enough.This paper introduced the current situation about inverted pendulum system researches, built up the mathematics model of single inverted pendulum and pointed the control difficulty caused by limited track-length. To resolve this problem, the paper used Modi-matrix. With the use of multi-stage decision optimization method of the modi-matrix,the swing-up control of the single inverted pendulum was translated into a problem of multi-stage decision for minimum time.Through mixed programming between Visual C++ and MATLAB,it is realized that using the method of Modi-matrix to find the optimal path and optimal decision of swing-up control of the single inverted pendulum.In the whole process looking for the optimal, the car displacement and the swing-up time are optimal parameters, it is achieved that to swing up in a little time on a limited track-length. The simulation control and real time control for a Track-length limited single inverted pendulum showed that the method is feasible. At the same time, a real time control interface of single inverted pendulum on the base of Simulink is developed with MATLAB, which is easy to be operated and demonstrated.It is realized that using the method of Modi-matrix to swing up the single inverted pendulum system swiftly on a limited track-length. The paper did some researches on the application of Modi-matrix to looking for optimal control, through theoretical analysis , software optimization and real time control proved that the method is feasible.