Research on Control of Rotary Inverted Pendulum via Polytope Techniques

The algorithm of constrained system control via polytope techniques does well in deal with the control problem in the systems with convex constraints on states and control inputs. The control of rotary inverted pendulum is a typical constrained control problem. The model and the constraints on control, state and disturbance variables of the rotary inverted pendulum are set up based on mathematic analysis. Methods based on polytope geometric techniques are used for stabilizing the rotary inverted pendulum. Some simulations are made for this system.