Single Inverted Pendulum System Based On PID Control
ABSTRACT: Inverted pendulum is a typical model of multivariable,nonlinear,essentially unsteady system, and researching inverted system has the profound meaning in theory and methodology. Inverted - pendulum system is difficult to control because its instability. It becomes the wonderful experiment device to verify how about the control strategy in automatic control experiments.The mathematic model of the single inverted pendulum plays an important role in the research of its stability.Using the Newtonian mechanics and Euler’s method to get the dynamic equation of the single inverted pendulum and realizing the control of it with LQR theory.The result of the simulation with MATLAB proves that this method could make the single inverted pendulum stable and reach optical control,so it shows the real-time control experiment are completed, and can help the learning in this respect and have a guiding-meaningin of the theorem.
KEY WORDS:The single inverted pendulum control system;PID control;LQR optimal control;MATLAB