Influence analysis of initial state parameters on linear inverted pendulum system performance

As the classical research object in control field, inverted pendulum can effectively reflect many key issues of the system, such as robustness, traceability, servo characteristic, convergence speed of the system and stabilization. This paper takes Gugao Tianlong I double inverted pendulum as the simulation object on MATLAB. Lagrange equation is established and an optimal controller design scheme based on LQR is proposed. The control scheme is testified on Gugao Tianlong I Inverted pendulum based TMS320LF2407 controller. It shows that the stability of inverted pendulum is sensitive to initial state parameters, and when the angle is larger, the power of control is larger and it is more difficult to control. These results provide theory basis and methods for control of inverted pendulum systems.