A reference model-based backstepping anti-interference control method and its application to inverted pendulum

A reference model-based backstepping anti-interference control method is proposed, which performs well in the application of Inverted Pendulum system. Firstly, the backstepping controller of the single-stage straight-line inverted pendulum is designed and the reference model of the system is obtained. Input the actual state variables into the reference model. If the single-stage straight-line inverted pendulum is disturbed, it will deviate from the ideal value of the reference model. In order to improve the anti-interference performance of single-stage straight-line inverted pendulum system, the generalized state error is introduced, that is, the error between the output of the reference model and the actual output of the system. Then the controller is designed by Lyapunov stability theory based on generalized state error and backstepping control method. Finally, the reference model-based backstepping anti-interference controller is obtained. MATLAB/Simulation results show that the controller can effectively suppress the influence of external interference on the single-stage straight-line inverted pendulum. It has strong robustness and anti-interference ability.