Research On Stability Control Of Inverted Pendulum System

Inverted pendulum is a typical model of multi-variable, nonlinear, essentially unsteady system, and researching stability of inverted pendulum system has the profound meaning in theory and methodology. The research on inverted pendulum can be diverted to the research on nonlinear, multi-variable and unsteady 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 valuable for a senior student to do research on this subject.In this dissertation, first of all, analyze the meaning of researching the inverted pendulum system, give a summary on the research actuality of inverted pendulum, and introduce many control ways on making inverted pendulum system steady. Second, a fuzzy controller of the inverted pendulum is designed based on fuzzy control theory. In accorded with principle that first control pendulum angle and second control cart displacement, and by virtue of small variation and easy adjusted of pendulum angle, we decide that the fuzzy self adapting controller is used to control pendulum angle. And then, we use MATLAB software to simulate the inverted pendulum fuzzy control system. The results of simulation indicate that the control method has good control ability.