Design of nonlinear controller based on ADAR method for wedge balancing

In this article, the author presented the application of principles and ADAR methods in synergetic control theory to synthesize an inverted wedge-balanced stable controller. Synergetic control theory is based on the principle of self-organization through invariant, asymptotically stable. In this method, the control law was synthesized to ensure the motion of the closed-loop control object from an arbitrary initial state into the vicinity of the desired gravitational invariant manifold. To synthesize the control law were presented in the article step by step. The control quality of the system was determined through manifolds. The quality and effectiveness of this control law are demonstrated by the control quality criteria, which are response time and overshoot in simulation results and compared with the LQR control law. © 2022 ICROS.