Research On Fuzzy Control And Sliding Mode Variable Structure Control Of The Linear Inverted Pendulum

With the rapid development of science and technology, the precision, speed, range and the requirements of the ability to adapt of the automatic control is increasing, which promoted the development of automatic control theory and technology, thus formed the new control theories and methods. Linear inverted pendulum as an ideal experimental platform for control theory and experiment, the feasibility and the validity of the control method is tested, and the corresponding control method got improvement. Based on the single stage and double linear inverted pendulum, the article carried on the research of the control theory and method, the specific contents are as follows:Firstly, using Newton mechanics method and Lagrangian method set up the mathematical model of single stage and double inverted pendulum and linearize in the vicinity of the equilibrium point,the corresponding state equations is deduced and the article analyzes the respective controllability, observability and stability.Secondly, controllers of single stage and double inverted pendulum were designed based on optimal LQR control theory, fuzzy control theory and the sliding mode variable structure control theory. the application of fusion function in fuzzy controller reduced the controller dimension, which improved the performance of the controller, in the sliding mode variable structure control, algorithms of eventually sliding mode control,equivalent sliding mode control and reaching law control method were designed.symbolic function was replaced with saturation function and continuous function and Exponential reaching law was replaced with variable speed reaching law,which suppressed the chattering.Thirdly, With the help of Matlab software and Simulink toolbox,the article finished the simulation program and the block diagram, realized the simulation of the above three kinds of control method. the simulation results knew that three kinds of control method are feasible, and improved algorithm of the sliding mode variable structure control in the inverted pendulum system has obvious effect in the inhibition of chattering.