Abstract :
Inverted Pendulum is a nonlinear, coupling, variable and natural unsteadiness system. In order to control the system, the control method must be practical and effective. Therefore, Inverted Pendulum is a typical model to verify if some control method is effective or not. The paper established the mathematical model through Lagrange equation, and designed three kinds of Controller. The paper analyzed the control results through simulation in MATLAB. The experimental results show that LQR, PID and poles assignment control method are all effective, in which LQR control is most effective and robust.
