Inverted Pendulum To The Research And Implementation Of The Network Control System

This paper focuses on the swing-up and balance control of the inverted pendulum as well as its Internet-based control. The fundamentals of energy based control are described in this thesis and energy compensation control is applied to swing up the rotary inverted pendulum. Both the simulation and the real time control results proved the effectiveness and feasibility of this swing-up control strategy. The linear quadratic optimal control strategy is also presented in this thesis and the effectiveness of the proposed method is proved. Internet-based inverted pendulum control system is described in details. Students can log on this system, control the inverted pendulum and get the results through Internet in remote terminals. This thesis is divided into five parts. Chapter 1 briefly introduces the research results of the inverted pendulum in recent years and the backgrounds, and the main contents of this thesis. Chapter 2 derives the mathematic model of the rotary inverted pendulum based on Lagrange method, analyzes the controllability and observability of the system, and then the linear quadratic optimal control theory is introduced and applied to control the pendulum. Chapter 3 explains the concept of energy control in details and presents the energy compensation control which can be applied to swing up the rotary inverted pendulum. Chapter 4 briefly introduces the Internet-based inverted pendulum control system. Chapter 5 presents the implementation of the client site and control site as well as the system security. Chapter 6 presents some suggestions for further development and then gives the conclusions.