Research on Robust Servo-regulator Used in Inverse Control of The Inverted Pendulum System

The method of inverse system control applied to inverted pendulum system was described in this paper. First, the method was directly used to design the strategy of inverted pendulum pseudo-linear system, and then the feasibility and shortcomings of the system were analyzed through simulating three specific models of inverted pendulum system. Secondly, to decrease the dynamic inverse error caused by modeling error, the reconstructed inverse control strategy was designed by means of introducing the robust servo-regulator, which effectively improved the performance of the controller through optimizing its structure and parameters. Finally with the comparison of the simulation results, the authors argues that the method of robust servo-regulator applied to inverse control not only ensures better dynamic performance and robust performance than the neural network feedback optimal control and LQR control, but also avoids the accuracy requirements in establishing the system mathematic model.