Nonlinear Control for Triple Inverted Pendulum Based on Three-Step Method

In order to enhance the stabilization control performance of the triple inverted pendulum system, a nonlinear controller based on the three-step method is proposed. Firstly, the state space model of the triple inverted pendulum is established. Secondly, the stabilization control law is derived in according with three-step method, that is, homeostatic-like control, reference dynamic feed-forward control and Error feedback control. Finally, the stability of the closed-loop system is proved by the Lyapunov stability theory. Simulation results show that the proposed control strategy has shorter settling time and smaller overshooting and control input, compared with the LQR algorithm optimized by PSO-AFSA and the Robust H∞based on LMI.