The Intelligent Adaptive Control System Design Based On Characteristic Model Of Inverted Pendulum

The inverted pendulum system is a typical single input and multiple outputs, nonlinear, high order, unstable system. It is the ideal controlled object in the research of control theory. Inverted pendulum experiment can be used to verify the validity and the practicability of the control theory and control methods. Characteristic model based on all-coefficient adaptive control method is a new type of integrated practical adaptive control method put forward by Doctor Hong-Xin Wu in 1992, the main idea is to combine modeling with control requirements in order to establish system characteristic model combined with control requirements and design the all-coefficient adaptive control law based on the model. This research applied the characteristic modeling theory to a cart-inverted pendulum system. Firstly, the characteristic model of the cart-inverted pendulum is deduced and the ranges of characteristic parameters are identified. Secondly, a type of intelligent adaptive controller with golden section adaptive control law, logical integral control law, logical derivative control law and tracking control law will be designed. Thirdly, combined with experimental design method quadratic optimal self-tuning golden section adaptive control is used to optimize the parameters in the control law. Then a simulation model will be established by MATLAB, and the control parameters will be adjusted. Finally, the control algorithm designed will be put into actual system and optimized.