Research On Inverted Pendulum Network Control System

The inverted pendulum system is a natural instability system of multivariable, nonlinear and strong-coupling. The research of the inverted pendulum is always a hotspot in control field in recent years. As a controlled object, it has very important value, not only the theory but also the realistic meaning in the research field such as the walking of biped robot, the attitudinal adjustment of the rocket lunching process and flying control of helicopter and so on.The stable control strategy and the long-range supervision technique of the inverted pendulum system based on network were studied in this paper. The H_∞control strategy was put forward, and the inverted pendulum network experiment system was set up.In this paper, the main research work is as follows:1) The H_∞control theories were discussed briefly. The indetermination mathematics model was built up for the single and the double inverted pendulum. Aiming at the inverted pendulum system exits a great deal of indetermination factors, the H_∞optimization superior controller was designed for solving the parameter protean and the disturbance problems of the single inverted pendulum. Appling it to the single inverted pendulum control system, the test result shows that the single inverted pendulum system, which adopted the H_∞state feedback optimal controller, has a very strong robust stability and anti- interference characters.2) Applying the long-range supervision technique of network, the inverted pendulum network control test system was set up, which using C# language based on the B/S configuration. The software realizing scheme of inverted pendulum experiment management system was introduced in detail, which includes flowchart structure, program flow diagram and its function. Through actual test, it shows that the system design is available.