Adaptive high order differential feedback control for inverted pendulum system
倒立摆系统自适应高阶微分反馈控制(英文)

Making full use of high order differential information extracted,an adaptive high order differential feedback controller is proposed,which does not depend on the model of SISO nonlinear affine system to a certain extent.Stability and robustness of the closed-loop system were analyzed.Through considering the position acceleration in dynamic equation of angle of pendulum as control input,the inverted pendulum system was then converted into interactional double nonlinear SISO affine systems.The pendulum system was thus successfully stabilized and regulated by using double adaptive high order differential feedback controller in series.Numeric simulations showed that the controller reaches satisfied effect for the benchmark model,and importantly had strong robustness for nonlinear friction term,parameter variations including length and mass of pendulum and mass of carriage,and external disturbance as well.