Optimal Control Algorithm for Inverted Pendulum Systems

This document represents my graduation project work. My research primarily investigates optimal control algorithms for inverted pendulum systems. In this study, I first introduced the background of inverted pendulums and relevant research in the field, then analyzed the advantages and disadvantages of various optimal control algorithms. I provided a detailed description of the principles and implementation methods of the specific algorithm I employed, which involved mathematical modeling of the pendulum dynamics and implementation of control strategies through MATLAB/Simulink simulations. The algorithm implementation included state-space representation, linear quadratic regulator (LQR) design, and real-time control parameter optimization. Furthermore, I conducted extensive simulation studies and experimental validations to verify the algorithm's effectiveness and feasibility in inverted pendulum control. These tests involved parameter tuning, stability analysis, and performance evaluation under different initial conditions. Finally, I proposed directions for further research and improvements to enhance the performance and stability of inverted pendulum control systems, suggesting potential enhancements like adaptive control integration and robustness optimization.

Summary: This paper presents my graduation project focused on studying optimal control algorithms for inverted pendulum systems. Through background introduction and related research analysis, I examined various algorithms' strengths and weaknesses, detailed the principles and implementation methodology of the chosen algorithm (including code structure and control logic), conducted comprehensive simulation and experimental studies to validate the algorithm's effectiveness and feasibility in inverted pendulum control. The implementation involved systematic coding of control laws and performance evaluation metrics. Finally, I outlined future research directions and improvement strategies to further enhance the performance and stability of inverted pendulum control systems.