| Inverted pendulum is a complex, multivariable, strong coupling, unstable, nonlinear system , it can effectively detect various control theories good or bad.This paper analyzes the inverted pendulum modeling method, using Lagrange equation for single inverted pendulum system and the two inverted pendulum system modeling. For the inverted pendulum state-space equation, using Matlab 7.0 software analysis of its stability, controllability, observability and controll ability and found controll ability of two inverted pendulum is smaller than single inverted pendulum.using optimal control theory to control single inverted pendulum system, stability control and made a swing simulation analysis.Paper describes the singular perturbation theory, and use of the theory improved a mathematical model of the inverted pendulum, and improved inverted pendulum model of the singular perturbation were used LQR control and fuzzy control, through the simulation analysis showed that the improved inverted pendulum effect obtained significantly improved. |
PDF Full Text Request