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《Transducer and Microsystem Technologies》 2008-04
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Research on iterative learning control scheme for inverted pendulum

LI Zhan-ming,AI Wen-huan,CHEN Ruo-zhu(College of Electrical and Information Engineering,Lanzhou University ofTechnology,Lanzhou 730050,China)  
Aimed at the characters of classic nonlinear,multivariable and absolutely unstable about inverted pendulum,based on the mathematical model,controller is designed according to the required dynamic performance indexes by iteration learning control method,and the simulation is accomplished.Results show that compared with those of traditional state feedback controller,the dynamic performances of the system can be greatly improved.
【CateGory Index】: TP13
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