Design And Implementation Of Rotational Inverted Pendulum Control System Based On Sliding Mode Observer

As a typical fast, multivariable, nonlinear, absolutely unstable system, inverted pendulum has been a hot issue of control theory and application. The modern control theory can be verified by the typical experimental device, and also many abstract concepts of control theory can be directly showed by the inverted pendulum system, such as stability and controllability of control systems, the system convergence rate, and anti-interference ability of system and so on. And its control methods and ideas are also widely used in general industrial process, from which the new control methods and theory are explored, not only used in power electronics, and they will be used in aerospace science and technology, robotics and other high-tech fields. Therefore the study of Inverted Pendulum System has very important theoretical and practical value.The main research work and conclusions are as follows:On the basis of in-depth reading the literature, the development process and status of inverted pendulum control system and the research significance are summarized. The circular inverted pendulum system state equation is established by Lagrange method, and its controllability and observability performance are analyzed, and it proofs that the inverted pendulum system is controllable and observable.For the control problem of inverted pendulum system, the pole placement and linear quadratic optimal control methods are proposed to realize the simulation of circular inverted pendulum control. As to the problem of angular variables for the inverted pendulum system can not be directly measured, a sliding mode observer method is designed. Utilizing that the sliding mode observer can overcome the unknown input disturbance of the control system, and sliding mode observer is designed to observe system unknown state variables. Then, not only the state variables are observed effectively and also the system hardware is simplified.With the analysis and design of the real Inverted pendulum system, real-time control of the circular inverted pendulum system is carried out by using of Matlab/Simulink software. Experimental results show that: the stability control of circular inverted pendulum system is achieved by the designs of pole placement and LQR controllers, and the observation of the unknown state variables is achieved by the sliding mode observer. It also shows that the proposed method is effective, and better academic value.