Car Inverted Pendulum Swing-up Control And Stability Studies

In stability control program,the inverted pendulum is universal as well as typical, and its cost is low and the structure is simple while it is used as the equipment.But studied as a controlled object,the inverted pendulum is very complex because it is a high order,unstable and strong coupling nonlinear system,which can be stabilized only by the more effective control methodology.A general review on the researches on the inverted pendulum system is given first, including the applications and developments of the research on inverted pendulum system in recent years.The single inverted pendulum system model is established based on Newton's mechanics theory and linearized in the vicinity of the equilibrium point.The controllers are designed for the inverted pendulum system by means of LQR and Bang-Bang control techniques which belong to the modem control theory.Meanwhile,the simulation is carded out via the MATLAB software to testify the practicability and the effectiveness of the proposed control methods.The simulation results show that the swing-up control based on Bang-Bang control method and the stablity control based on LQR control method can realize the the goal of the control.Fuzzy control strategy is also discussed for the inverted pendulum system.Fuzzy toolboxs in MATLAB are utilized to design fuzzy controller.Simulation study is implemented by using the corresponding MATLAB softwares,and the results show that the fuzy control approaches are feasible to control inverted pendulum system.