The Inverted Pendulum is one of the most important classical problems of Control Engineering. Broom Balancing (Inverted Pendulum on a cart) is a well known example of nonlinear, unstable control problem. This problem becomes further complicated when a flexible broom, in place of a rigid broom, is employed. Degree of complexity and difficulty in its control increases with its flexibility. This problem has been a research interest of control engineers.
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A many grades hybrid adaptive controller is designed, the problem that high step and complicate controlled object is unstable in tradition adaptive control system is solved.
设计了一种多极混合自适应控制器，解决了高阶复杂被控对象在以往的自适应控制中出现的不稳定问题。
As a complex, time-varying, nonlinear, strong coupling, natural unstable and higher order system, its stability control is a typical problem of the theory and application of control.
作为一个复杂、时变、非线性、强耦合、自然不稳定的高阶系统，倒立摆的稳定性控制又是控制理论与应用的典型问题。
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