| Summary: | 碩士 === 大華技術學院 === 機電研究所 === 99 === This article describes a methodology to simulate the inverted pendulum system with linear feedback. The saturation output of controller, the quantization error of the cart position and the pendulum angle, the backlash of driving gear were also put into consideration.
During the simulation, we first assume that controller output is 50 NT, the cart position resolution is 1.25 m, the pendulum angle resolution is 0.05 degree, and gear backlash is 10 times of the cart resolution, i.e. 12.5 m. The simulation result indicates that, if driving power of the controller is less than 23 NT, the system will be dispersed. If the pendulum angle resolution is greater than 16 0.05 degree or the gear backlash reaches (1.25 16) m, the system nonlinear phenomenon of asymptotic stable will be quite obviously.
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