Design and analysis of the control of an inverted pendulum system by Matlab

摘要

Analysis of a typical inverted pendulum control system is very effective to evaluate and understand the different control strategies and aspects of the control engineering. Fundamental ideas of the inverted pendulum control system can be applied in different industrial applications. Moreover, the stability control of the walking robot and the vibration control of launching platform for shutters is also have the same fundamental concept. In this paper a typical inverted pendulum system has been considered and then that system has been converted to mathematical equations based on motion. Later the equation has been linearized to analyze different parts of the control system through Matlab. The dynamic behavior of the inverted pendulum has been discussed along with the stability condition and also the controllability and observability of the system. To improve the performance and stabilize the system a state feedback controller has been designed. Finally a tracking controller with no steady state error has been designed and analyzed.