A Method of Robust Control for Nonlinear Inverted Pendulum System

摘要

In this paper, the controller of inverted pendulum with parametric uncertainty and nonlinearity was proposed. The controller was composed of two terms. Control law of linear part of the system was obtained by Coordinate Transfer and Backstepping algorithm. To the nonlinear part and uncertainty of the system which are usually not accords with the form of Backstepping algorithm, a BP neural network was applied to the design of the controller. Method submitted in this paper was less restrictive to the form of the nonlinear system, and has a wider universality. At the end of the paper, simulations proved the effectiveness of the proposed method.