The Optimal Design of Double Inverted Pendunum Controller Parameters Based on ITAE
Conference: ICMLCA 2021 - 2nd International Conference on Machine Learning and Computer Application
12/17/2021 - 12/19/2021 at Shenyang, China
Proceedings: ICMLCA 2021
Pages: 4Language: englishTyp: PDF
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Authors:
Cui, Shaojie; Liu, Zhongchun (Equipment Engineering College, Shenyang Ligong University, Shenyang, China)
Abstract:
Double inverted pendulum is a nonlinear and unstable system and the stabilization of double inverted pendulum is defined as a very basic classical control problem in control theory. The purpose of this paper is to stabilize double inverted pendulum using a state feedback control, and search an optimal state feedback controller with minimum ITAE index by optimization algorithm. This paper uses the Lagrange method to establish the nonlinear model of the double inverted pendulum, through the linearization method, the linearized model of the system near the equilibrium point is established. Based on the linearized model, a linear state feedback controller is designed by pole assignment method. Then we use this set of state feedback parameters as the initial value of the optimization algorithm to optimize the controller. We use the controller obtained by the optimization method to control the actual system, and the control effect is good.