Inverted Pendulum System Stability Control Algorithm Research

Inverted pendulum is an effective experimental platform for the study andverification of the control algorithm, and the control algorithms of it have wideapplication in aerospace, industrial control and other aspects. The core problems of theinverted pendulum control studies are the automatic swing control and stability ofpendulum control. With a detailed study, the combination of the control algorithm, nonlinearcontrol algorithms, robust control algorithm, the adaptive control algorithms have become thedevelopment trend of analytical method based on the model of the inverted pendulum controlalgorithm.Taking the straight line inverted pendulum as the research object, and according toall level experimenter’s the different demands, this paper focuses the study on thestabilization of inverted pendulum combined algorithm, nonlinear algorithm.The main research works as follow:Proposed and designed a set of automatic swing, the location of the optimum cart control,embedded in the single-variable control of the pendulum modular inverted pendulum controlalgorithm. The result of the online experiment shows that the algorithm is effective andhas met the demand of the safe, automatic, intuitive, fast, reliable of the experiment.Based on the backstepping thinking, this paper studies and designs nonlinearcontrol algorithm of the pendulum rod, combines with linear optimal state-feedback law,and synthesizes an inverted pendulum system control algorithm. it effectively overcomethe obstacles of the backstepping control algorithm used in control non-linearnon-minimum phase object.Established a model of car inverted pendulum state correlation coefficientmodel(State-Dependent Coefficient Model), and derived the inverted pendulum systemstate optimal feedback control law(State-Dependent Riccati Equation), to achieve astraight line an inverted pendulum overall design of nonlinear control algorithm.The simulation results show: These two control algorithms above are all effective.But the anti-jamming capability and control effect of SDRE control is better thanBackstepping control algorithm. In extreme cases, the performance of SDRE control isalso superior to linear optimal state feedback control algorithm.The results of this research for inverted pendulum stability control of in-depthresearch and experimental development laid solid foundation.