A Simulation Research of Nonlinear Control Method in Triple Inverted Pendulum

摘要

To linearize the triple inverted pendulum model, which has the features of nonlinear, high-order.multivariable and strong-coupling, proposed a method of partial feedback lineariation based on differential geometry theory. A Single neuron adaptive Proportion-Differential (SNPD) control was used to the system, compared with Linear Quadratic Regulator (LQR) strategy. The former improves the stability and enhances anti-jamming capability of the system. The results of simulation show that the proposed linearization and control method perform well.