Abstract:

A partially linearized model of single inverted pendulum system is obtained based on the feedback linearization method. And a non-singularity coordinate transformation is constructed to transform the system to the special form. A robust controller for inverted pendulum is proposed by using the backstepping method. Furthermore, a robust synchronization controller is designed based on the defined synchronization errors of the parallel dual inverted pendulum system. A real synchronous motion system composed of two single inverted pendulums is used to test the proposed synchronization controller. The real-time experimental results show that the robust synchronization controller realizes a stable balancing control of the two inverted pendulums and a precise tracking control of the two carts while they move synchronously.