The rotational inverted-pendulum based on DSP controller

摘要

In the paper the design and realization of a rotational inverted pendulum control system is presented. It also includes the system structure, model analysis and control. The swing-up control by rule-based methods is successfully realized on the system. The rotary inverted pendulum is a kind of more self-unstable, nonlinear high-rank system. It is much like the control of a walking-robot and a rocket. It is a paragon for learning modern control theories. Controlling the pendulum with the DSP system will minimize the size, increase the control precision as well as speed up the control.