Stabilizing Triple-Inverted Pendulum Using Computer

Personified intelligent control idea based on the physical model of system is proposed in this paper.Qualitative control law is acquired through the qualitative analysis of system model.The personified intelligent idea is applied to adjusting the control law by observing the dynamic behavior of system on line.The mechanical properties of system and the physical properties of motor are considered synthetically in designing feedback control law.An intelligent damp term is added to the control law due to the system behavior and all feedback gain coefficients are given.A nonlinear control law is established and the triple inverted pendulum with a single motor is controlled steadily using computer.Another triple inverted pendulum with different structure is also stabilized successfully by the same way.The experimental datum curves are attached.