To research the tendencies of immediate change in the scheduled parameters, a linear parameter–varying control strategy is made in real time for lab-based inverted pendulum system. An adjusted and observing virtual instrument is designed in LabVIEW to construct this mechanism. To obtain the transient response data, a step response is transmitted by virtual instrument to the inverted pendulum by which model of inverted pendulum is identified. System model depicts its characteristics, so this model is employed in designing controller. To improve the performance and robustness, linear parameter–varying controller is created to deal with parameter distinctions. Furthermore, the effectiveness of this designed robust controller is checked by integrating on hardware system. The discovered model is checked by evaluating the presented approaches in real time and simulation outcomes with traditional controller as proportional–integral–derivative controller and linear–quadratic regulator.

中文翻译：

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基于实验室的倒立摆系统线性变参数控制方案的模型辨识与实时实现

为了研究预定参数的即时变化趋势，针对实验室倒立摆系统实时制定了线性参数变化控制策略。在LabVIEW中设计了一个可调节和观察的虚拟仪器来构建这种机制。为了获得瞬态响应数据，虚拟仪器将阶跃响应传输到倒立摆，通过倒立摆的模型进行识别。系统模型描述了其特性，因此在设计控制器时采用该模型。为了提高性能和鲁棒性，创建了线性参数变化控制器来处理参数差异。此外，该设计的鲁棒控制器的有效性通过集成在硬件系统上进行检查。