Multimodeling Interconnected Systems Application for the Stabilisation Control of the Inverted Pendulum

The 'Divide and rule' principle or the so called multimodeling in control engineering is often used to simplify the control task of non-linear systems. The aim of this paper is to take advantage of the multimodeling approach to stabilise a non-linear interconnected system, usually used as a benchmark: the Inverted pendulum (IP). The multimodeling approach applied to interconnected systems is to divide the global system into different subsystems; the whole system multimodel is made by the association of the subsystems multimodels. The Simulation results of the stabilisation control of the IP show a suitable stabilisation of the IP by the proposed method and a good robustness against perturbations.