Control of the Carriage–Inverted Pendulum System Based on a Signal-Adaptive Inverse Model
V. V. Pankratov, A. A. Tatarnikova, A. B. Tatarnikov
Novosibirsk State Technical University, pr. Karla Marksa 20, Novosibirsk, 630073 Russia
Keywords: automatic control, inverted pendulum, signal-adaptive inverse model
Abstract
In this paper, we consider typical problems of automatic control for systems consisting of a carriage and a one-link inverted pendulum: stabilization of the pendulum in the absence of constraints on the coordinates of the carriage, control of the speed and position of the carriage with the stabilization of the pendulum, and control of the position with the subordinate system of speed control. Control algorithms were synthesized using a signal-adaptive inverse model based on the requirement of the desired distribution of the poles of the linearized zero system with deliberate implementation of threerate processes. The results of numerical simulation of the synthesized control systems are presented.
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