Trong bài viết này, tác giả ứng dụng bộ điều khiển hồi tiếp tuyến tính hóa vào ra với đối tượng hệ con lắc ngược quay, để đánh giá độ ổn định của hệ thống. Mô phỏng được thực hiện trong môi trường Matlab/Simulink cho thấy thông số điều khiển được tìm kiếm thông qua giải thuật di truyền làm hệ thống cân bằng tại vị trí thẳng đứng hướng lên. | JOURNAL OF TECHNOLOGY EDUCATION SCIENCE Ho Chi Minh City University of Technology and Education Website https ISSN 1859-1272 Email jte@ Design of Input-Output Feedback Linearization Control for Rotary Inverted Pendulum System Vo Minh Tai1 Tran Vi Do2 Vu Van Phong2 Tran Duc Thien2 Nguyen Minh Tam2 Ngo Van Thuyen2 Tran Thanh Phong3 Nguyen Van Dong Hai2 1 Ho Chi Minh City University of Technology BKU Vietnam National University - Ho Chi Minh City Vietnam 2 Ho Chi Minh City University of Technology and Education HCMUTE Vietnam 3 Tien Giang University TGU Vietnam Corresponding author. Email ARTICLE INFO ABSTRACT Received 5 1 2022 Rotary Inverted Pendulum RIP is a non-linear system that is considered a benchmark in control theory problem. It represents a broader class of Revised 20 1 2022 under-actuated systems. Rotary inverted pendulum is a complex system Accepted 14 3 2022 widely studied in many areas due to its complexity nonlinearities and non- minimum-phase system. In this work the authors implement the input- Published 28 4 2022 output feedback linearization techniques IOFL for the control of rotary KEYWORDS inverted pendulum. With the scheme the authors assess the stability of the system when applied the controller. The entire system has been modeled Rotary inverted pendulum and tested by Matlab Simulink toolbox where the parameters of IOFL Input-output feedback linearization control is searched by genetic algorithm to make system stabilized at controller upright position. The program is built with Waijung library in Genetic Algorithm Matlab Simulink environment and the system was controlled through Balancing control STM32F407VG Discovery microcontroller. Experiment results verify SIMO controller. capable and competent characteristics of proposed optimal feedback linearization controller. The proposed method can be considered as a promising way for control of various similar nonlinear systems. Xây Dựng Bộ .
