Research on One Type of Saturated Nonlinear Stabilization Control Method of X-Z Inverted Pendulum

X-Z inverted pendulum not only has nonminimum phase and underactuated performance that normal inverted pendulum has, but also has more control freedoms. The equivalence relationship between X-Z inverted pendulum and planar vertical takeoff and landing (PVTOL) aircraft is found through definite states transformation. The saturated nonlinear control method original from the control method of PVTOL aircraft is used to the stabilization control of the X-Z inverted pendulum based on the equivalence relationship between them. The stabilization method is compared with the PID (Proportion integration differentiation) control through simulation. And this proofs the effectiveness of the stabilization method.