The Inverted Pendulum System Control Based On Network Environment

In order to validate the feasibility and instantaneity of network control methods, to reflect theimportance of combining control theories and practical computer network problems. This papermainly studies the swing-up control and balance control of the inverted pendulum based on thenetwork environment.Firstly, this paper concludes the method to swing-up pendulum is based on energy aftercomparating and analysising several kinds of the control method to swing-up pendulum, andproposes the method to swing-up pendulum based on energy of the discrete system from the methodof the continuous system.Secondly, this paper directly studies the balance control of the inverted pendulum based on thenetwork environment. It considers not only the problem of data packet dropouts but also networknoise.To put forward the design of the output feedback controller and H-infinity controller in thediscrete network control system based on the two problems. Data packet dropouts and networknoise problems are existed in both sensor-to-controller side and controller-to-actuator side, thelinear matrix inequality (LMI) is proposed. The sufficient conditions or the existence of the outputfeedback controller and H-infinity controller are derived in terms of the LMI, so that theclosed-loop system is mean square asymptotically stable and guarantee a given H-infinityperformance. Finally, the simulation result of a numerical example demonstrates the feasibility,proves the stability of the inverted pendulum and analyses the case under different packet dropoutrates and whether there is network noise or not in the inverted pendulum system.Finally, this paper adopts client/server mode after comparating and analysising kinds ofnetwork architectures, and developes the remote control platform. This paper introduces the detaileddesigning process of the server and the client, and the server can communication with the clientafter linking. It realizes to swing-up and balance pendulum through the remote control aftercompilling and linking then running the program based on entering the button of swing-up andbalance pendulum, and obtains the real-time control result.