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| Research and Simulation of a Reduced-Order Observer-based State-Feedback Control System for First-Order Inverted Pendulum |
| LI Siming1，DONG Wenqi2，CAO Yubo1*
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| 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 |
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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.
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Published: 20 December 2025
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