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Modeling and Design of Single Inverted Pendulum Control System

NA Wen-peng

Abstract

The single inverted pendulum control system is an inherent instable nonlinear and complex dynamic system which needs high accuracy and speed. The mathematical model of the single inverted pendulum plays an important role in the research of its stability. Using the Lagrange 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 the system of the single inverted pendulum processing good robustness.

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Available abstract

Key concepts: Inverted pendulum, Double inverted pendulum, Computer science, MATLAB, Control theory (sociology), Robustness (evolution), Nonlinear system, Double pendulum