Error analysis of a inverted pendulum on an inclined rail

According to inverted pendulum system control error, the method of error analysis and compensation is proposed, which establishes the structural model of inverted pendulum system, elaborates control principles of tilt inverted pendulum system, and studies error causes of inverted pendulum and inclination system error and dynamic error in the control process. But errors involving electric control system and model of inverted pendulum system are combined together to constitute composite error of tilt inverted pendulum system. The purpose of studying the relationship among composite error, motion parameters and structural parameters is to rediscover a solution to minimize composite error and to improve the accuracy and precision of control system provides theory basis. The simulation results reveal the necessity of optimal control error compensation of tilt inverted pendulum.