The Research Of ARX Modeling And Predictive Control On Straight Double Inverted Pendulum

The inverted pendulum is a multi-variable, nonlinear and strong-coupling natural unstable system, which is hot in the current control research field. It not only has strong theory meaning in studying the inverted pendulum system, but also has strong practical significance.This thesis is mainly about the modeling of RBF-ARX and predictive control, based on the study of the straight double inverted pendulum. To solve the problem people found in the physical modeling process, we used the ARX and RBF-ARX modeling methods for the double inverted pendulum. This thesis not only introduced theories of ARX modeling and RBF-ARX modeling, but also introduced something about collecting datas, initializing the model parameters, and choosing the model order. It also displayed outputs of the ARX modeling and RBF-ARX modeling. After compared the output of ARX modeling with the output of RBF-ARX modeling, we can see that the RBF-ARX modeling has a better outcome.After the design of modeling methods, we also designed simulation and real control for the double inverted pendulum. From different initial pendulum angles, we can see that the RBF-ARX modeling with predictive controller has a good simulation effect. We also designed the simulation with the ARX modeling method. With the comparison with the simulation output of ARX modeling and RBF-ARX modeling, we can see the RBF-ARX modeling with predictive control has a better effect. Thus all proved the validity of RBF-ARX modeling with predictive control. As it’s very complex to do real control for the double inverted pendulum, we choosed the predictive control for the real control.