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倒立摆系统可以用多种理论和方法来实现其稳定控制,如PID、自适应、状态反馈、智能控制、模糊控制及人工神经元网络等多种理论和方法,都能在倒立摆系统控制上得到实现。强跟踪滤波器能够对被噪声污染的信号进行有效地估计,从而降低了噪声的影响,强跟踪滤波器的优点为对于模型不确定性具有较强的鲁棒性;对过程的缓变或突变状态均有很强的跟踪能力。介绍强跟踪滤波器在倒立摆控制系统中的应用并给出了仿真结果。仿真结果证实由于强跟踪滤波器能有效地估计倒立摆的状态,与没有采用强跟踪滤波器的控制方法相比较,不但降低了噪声对系统的影响,而且显著地提高了系统的鲁棒性。
Inverted pendulum system can use a variety of theories and methods to achieve its stable control, such as PID, adaptive, state feedback, intelligent control, fuzzy control and artificial neural network and other theories and methods, can be inverted pendulum system control Be realized. Strong tracking filters can effectively estimate noise-contaminated signals and thus reduce the effects of noise. The advantage of strong tracking filters is their robustness to model uncertainties; slow or abrupt changes to the process State has a strong tracking ability. The application of strong tracking filter in inverted pendulum control system is introduced and the simulation results are given. The simulation results show that, compared with the control method without strong tracking filter, the strong tracking filter can effectively estimate the state of the inverted pendulum, not only reducing the impact of noise on the system, but also improving the system robustness remarkably.