Study on stability control for single link rotary inverted pendulum

Inverted pendulum system is typical multi-variable, nonlinear, strong -coupling and instability naturally, as a typical control target, it has been subjected to many experts and scholars´ concern. This paper derives the mathematical model for system of single link rotary inverted pendulum from Lagrange Equation, and through the linear model, the inverted pendulum is kept stable on the inverted point by linear quadratic optimal control. Simulation experiments prove the effectiveness and feasibility of the control strategy.