Research on the Control Method of Inverted Pendulum Based on Kalman Filter

Inverted pendulum is a nonlinear, multivariable and instability system. In the past, without considering the effects of measurement noise and output noise of the sensor in the processing of inverted pendulum control, the strong random jitter occur, and the control accuracy and stable of the inverted pendulum is reduced. Because the Kalman filter can estimate the signal is corrupted by the noise, the filtered system will have fine robustness and dynamic performance. Inverted pendulum in the straight line car is given as example, and the application of Kalman filter in the inverted pendulum control system is described in the paper.