Windows environment inverted pendulum control and experimental program development
|Course||Control Theory and Control Engineering|
|Keywords||Inverted pendulum Control algorithm Adaptive control Fuzzy Control Matlab Simulation LabVIEW|
Inverted pendulum system is non-linear , strong coupling , multivariable , naturally unstable system . In the control process , as it can effectively reflect the calm , robustness , with the dynamic nature , and tracking control in many of the key issues is to test a variety of control theory, the ideal model . This paper describes the structure of the inverted pendulum and mathematical models , based on this study and analysis of the inverted pendulum control algorithms, including model reference adaptive control based on neural network and fuzzy control , etc. , highlighting their design methods, and given Matlab software simulation program and the corresponding simulation results . Inverted pendulum is ideal for automatic control teaching laboratory equipment , but in the Wuhan University, Department of Automation PCS ( Process Control System ) laboratory existing inverted pendulum apparatus , the control program is written in C language running on the DOS platform experimental procedures ; while inverted pendulum under Windows user to remotely control experiments for achieving far-reaching significance , the authors in the LabVIEW development environment to design an integrated programming, software development experiment , after repeated testing in the lab , the success achieved in Windows operating system inverted pendulum control .