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Characteristic model based golden section adaptive control of cart-inverted pendulum system

This paper applied the Characteristic Modelling Theory to a cart-inverted pendulum system. Firstly, the characteristic model of the cart-inverted pendulum is deduced, and the ranges of characteristic parameters are estimated. Secondly, a type of Golden Section Adaptive(GSA) controller with logical integral, logical derivative control law and a gradient descent algorithm to identify the parameters is proposed for the characteristic model. Finally, the designed controller is implemented on the cart-inverted pendulum system, and the experiments validate the effectiveness of the designed control law. Compared with the PID, LQR, the proposed method is simpler and easier to implement and has a better performance.