Linear Inverted Swing-swing Control

Inverted pendulum is a typical model of multi-variable,nonlinear,essentially unsteady system.In practical engineering,many control systems resemble inverted pendulum.Thus, the stability research of inverted pendulum system has the profound meaning both in theory and in practice.In this paper,the characteristic of inverted pendulum and the research meaning of control are analysed.Besides,the progress of inverted pendulum research is introduced.First, the single inverted pendulum system model is established based on Newton's mechanics theory,which is a non-linear model.Linearize the model in the vicinity of the equilibrium point and thus state equation of the system is obtained.Qualitative analysis is based on the linearized model,which shows the inverted pendulum is a unstable,controllable,observable. The comparative analysis of fuzzy control,neural network control,PID control and optimal control strategy are introduced in the following.Ultimately,Linear Quadratic optimal control is selected to achieve stability control,then,simulation of the stability control is carried on. Next,the swing-up process and principle of energy feedback control and time optimal control are analysed.Swing-up control of inverted pendulum is achieved by energy feedback control and time optimal control based on nonlinear model.Linear quadratic control is adopted to realize the stability control.Thus,the controller is designed and the parameters of the controller are determined.The control procedures can realize the control of single inverted pendulum in the MATLAB/Simulink environment.Simulation results show that both control methods can achieve the swing up control and stability control of the inverted pendulum.