Research Stability Control&Experimental On Single-stage Inverted Pendulum System

Inverted pendulum as a typical experiment device, inverted pendulum system has theperformance of high-order, multi-variable, non-linearity, strong-coupling and naturallyunstable system. it can reflect number of key issues, such as stabilization problem,non-linear problem, robustness, tracking problems and so on in the control process. It isthe favorite problem in the control theory and tests the modern control theory, and alsothe control technique and idea is useful in average industrial process. The research on theinverted pendulum system has profound theoretical and practical significance, relevantresearch results have been applied to space science and technology and robotics andmany other fields. In this paper, the research objects are linear single-stage invertedpendulum system provided by the Googol Technology of Shenzhen. We use so manycontrol method to implement the simulation and real-time control reach on the invertedpendulum. In this paper, we focus on the following problems:First, According to the characteristics of the single-stage inverted pendulum system,by using dynamic equation; the nominal mathematical model and the uncertain modelwere established. Given of the simulation of the non-linear model, and analyze thestability.Secondly, we has discussed the control methods of inverted pendulum system basedon PID control methods, the root locus methods and linear quadratic optimal controlmethods, and then the design of the three controllers was deduced for the invertedpendulum system, as well as based on the LMI theory, the design of robustH state-feedback controller. At the same time we have simulation and analysis thecontroller by using MATLAB/Simulink. Finally, consider the real-time control of the inverted pendulum, under the Windowsplatform, we have developed real-time control software for the single-stage invertedpendulum by using Visual C++2010, it’s mainly operate GT400-SV-PCI four-axiscontrol board and implement own control algorithms, from actual operating results, therobustH state feedback controller have best performance.