Cascade Control Approach for a Cart Inverted Pendulum System Using Controller Synthesis Method

摘要

Inverted pendulum is a basic benchmark in the field of control engineering. It is a well-known example of single input multi output (SIMO) systems. A commonly used type of the inverted pendulum systems is cart inverted pendulum which has a cascade structure inherently. In this paper, a cascade control approach based on controller synthesis method is used for controlling a cart inverted pendulum system. Controller synthesis technique is used to tune both inner and outer loops of the cascade control system. Simulation results are given to demonstrate the use of the proposed approach.