Research on Control Method of Rotating Inverted Pendulum

Abstract

This paper takes the rotating inverted pendulum system as an example to compare three classical system control methods. In the first half of the article, we use the Lagrangian method to establish the mathematical model of the rotating inverted pendulum system. In the second half of the article, we use the Lyapunov function method, the LQR method, and the PID method to design the control law of the system, so as to realize the self-stable control of the system. By observing the simulation results of the rotating inverted pendulum system under different controllers, we can clearly see the differences among the three control methods and their respective advantages and disadvantages.