基于多模型的倒立摆变结构控制

variable structure control of inverted pendulum method based on multi-model is presented to solve the difficulty of stability control by using of linear model when the inverted pendulum is away from equilibrium position. By evaluating the state of the inverted pendulum, the suitable system model and corresponding controller are chosen. Two control strategies of hysteresis switching and weighted adaptive are taken to stabilize the system for a wide range. Variable structure control is used to enhance the robustness of parameter perturbation. The validity of the proposed method is proved in simulations.