Abstract
Several key problems in the controller design for inverted pendulum system are discussed in-depth. Applying the theory of Lie algebra differential geometry based on the single linear inverted pendulum model established by Lagrange method, the problems of exact linearization, controllability, relative degree, the control based on approximate linear model and the stability control of nonlinear inverted pendulum system are analyzed in detail, which can guide the controller design for nonlinear inverted pendulum system. Further, the controller is designed based on approximate linear model of single linear inverted pendulum, and simulation results show that this controller is effective.
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