Sampled-Data Observer for Inverted-Pendulum with Large Sampling Interval

Design of observers of inverted-pendulum with large sampling interval is investigated in this paper. Simulation shows that traditional design method for inverted-pendulum´s observer can not swing up the pendulum successfully in larger sampling interval. A modified observer design method is presented. Approximate discrete-time model of linear inverted-pendulum is obtained through Euler discretization, on which sampled-data observer is designed. Fourth order Runge-Kutta is adopted to improve the accuracy of observers. Simulation shows that the performance of the observer designed by the modified method is accurate enough to swing up the inverted-pendulum.