Planar Inverted Pendulum System Research Based On The XY Platform

The nonlinear dynamical model of the planar inverted pendulum is developedwith Lagrangian formulation firstly. Then, the linearization of the model at itsequilibrium yields to the decoupled linear systems of the inverted pendulum in twoperpendicular control directions. According to the theory of optimal control to designa system of linear quadratic optimal regulator, And by using Visual C++6.0andVisual Basic6.0realized the human-computer interaction, Real-time control inmultimedia timer interrupt service function realization within, self-build a planeinverted pendulum experiment platform. The system successfully achieved stablependulum control, Simulation and experimental results surface build plane invertedpendulum decouping the rationality of the model and the effectiveness of the controlalgorithm.