Plane Stability Control Of Inverted Pendulum

Inverted pendulum is a typicallycontrolled object that has manycharacteristics such as highorder, nonlinear, strong coupling, absolutely unstable,the research of invertedpendulumstabilitycontrolnot only has far-reachingtheoretical significance, but also hasan important practical significance ofthemultivariable nonlinearobjectsinindustrial productioncontrol, so the invertedpendulum systemis the ideal model that used to test a variety ofcontrol theory incontrol field.Theplanarinverted pendulum’sbasecanbemovedinatwo-dimensional planeand thebase motionhas twodegreesoffreedomrelative to the linear invertedpendulum’ssimple structure. Leading toanincreaseinsystem variables,increasedorderand bringthecontrolof thestrongcoupling characteristics, makingthe planarinverted pendulumstability controlchallenging. This articlewe useGugao GPIP2002planar inverted pendulumas the research object, then useLagrangeequationto establish the planar singleand double invertedpendulum’smathematical model, then through approximation andlinearizationbyTaylor seriesat the equilibrium positionto obtainthelinearmodelofthesystemintwo orthogonal directionsX, Ymutuallydecoupled.Based on the established linear model of planarinverted pendulum, we usethe optimal controltheory and fuzzycontrol theory to designtheplanar singleanddouble inverted pendulum’sLQRcontrollerandfuzzy controller, thenachievedthependulum’sstability control.We use the real-time controlandMatlabsimulation results to show thatLQRcontrol andfuzzycontrolintheplanarinverted pendulumcontrolis effectiveness.Through the analysis of the pendulum’sstability controlexperiments andtheanti-jammingperformance of the system, we illustratetheadvantages anddisadvantagesofLQRcontrol and fuzzy control.Thefuzzy controlleris easy toimplementand have thestrong robustness, anti-interference ability comparedwith the LQRcontroller.