Control research for single rotation inverted pendulum

Inverted pendulum system is a complicated, nonlinear, unstable system of high order. It is the typical experiment object for controlling research. Rotation inverted pendulum is more complex and less stable than normal that so as to increase the control level. The structure and mathematic model of single rotation inverted pendulum is presented detailed in this paper. The three control system based on pole-placement, LQR and LQY are designed. The simulation is done based on Matlab. The effect is proved by the result of experiment. The control result can be expanded the control of multilevel rotation inverted pendulum, and have a guiding meaning in the control of other unstable system.