基于误差反馈的环形一级倒立摆自动摆起控制

his paper studies single inverted pendulum, the model of the inverted pendulum is worked out based on Lagrange method, design swing-up controller for the model. Firstly, an algorithm based on error feedback was introduced. The order of designing variable coefficient is to increase control signal in the process of swing-up the inverted pendulum, so as to decrease the time of swing-up inverted pendulum. Secondly , different kinds of variable coefficients were discussed. The Stabilization controller was designed with LQR method. Time of swing-up was obtained from MATLAB simulation with improved algorithm, it was compared with the time which is obtained from simulation with unimproved algorithm and other algorithms which already existed, the time of swing-up decreased about three seconds with the same initial condition. Lastly, more physical parameters were used to demonstrate the universal applicability of the improved method.