Control of the carriage-inverted pendulum system based on a signal-adaptive inverse model
В.В. Панкратов, A. A. Tatarnikova, Aleksey B. Tatarnikov · Optoelectronics Instrumentation and Data Processing · 2013
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 three-rate processes. The results of numerical simulation of the synthesized control systems are presented.