Research and Simulation of a Reduced-Order Observer-based State-Feedback Control System for First-Order Inverted Pendulum
LI Siming1，DONG Wenqi2，CAO Yubo1*
1.School of Information and Control Engineering , Jilin Institute of Chemical Technology , Jilin City 132022 , China; 2. CEC Compound Semiconductor Co., Ltd. , Ningbo 315336, China
Abstract: The inverted pendulum system is a typical unstable nonlinear system. A mathematical model for a first-order inverted pendulum was established using Newtonian mechanics, and system simulation was implemented through the Simulink module in MATLAB. Building upon state feedback control, to reduce the settling time of full-order observer-based state feedback control, this study proposes a reduced-order observer-based state feedback control method. This approach converts high-dimensional data into low-dimensional data, simplifying system structure while demonstrating improved efficiency and faster settling speed compared with full-order observers.
李思明, 董文琦, 曹玉波. 基于降维观测器的一阶倒立摆状态反馈控制系统研究与仿真[J]. 吉林化工学院学报, 2025, 42(3): 57-62.
LI Siming, DONG Wenqi, CAO Yubo. Research and Simulation of a Reduced-Order Observer-based State-Feedback Control System for First-Order Inverted Pendulum. Journal of Jilin Institute of Chemical Technology, 2025, 42(3): 57-62.
