| Summary: | 碩士 === 大華科技大學 === 電機與電子工程系 === 103 === This thesis proposes an effective nonlinear control method for a rotary inverted pendulum system in order to improve the accuracy of using the time-invariant LQR optimal linear control, which is obtained by using angle approximations in the obtained nonlinear system model. Thus, the main objective of this thesis is to explore the application of nonlinear system theories to a ROTPEN experimental machine (ROTPENEM), trying to develop a more accurate control law than that of the linear control. First, we derive the system model of the ROTPENEM, and try to explore the control effects and potential problems of applying the time-invariant LQR design. Then, we try to employ the SDRE (State-Dependent Riccati Equation) control and the Input-state feedback linearization control to improve the control performance of the aforementioned linear control. Furthermore, based on the concept of the SDRE, this thesis also proposes a compact design method of the conventional feedback linearization control in order to reduce its computational complexity. In the sequel, compact time-varying and time-invariant feedback linearization controller designs are proposed. To verify the effectiveness of the proposed results, this thesis uses MATLAB to conduct the simulation and verification. Finally, through LabVIEW programming and experiment setup, this thesis fulfills the goal of real and satisfactory control of the ROTPENEM.
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