Inverted pendulum system model parameter identification method based on frequency domain parameter-free identification

The invention relates to a frequency domain parameter-free estimation identification method based on a visual inverted pendulum system, and relates to the field of simulation and analysis of the inverted pendulum system. A single-input multi-output function model with disturbance noise in input and output is effectively utilized, the stability of the inverted pendulum is considered, and model identification of an inverted pendulum system is fused into inverted pendulum control strategy design. Comprising the following steps: firstly, establishing a simulation model by using multiple-input-multiple-output disturbance noise of the inverted pendulum, and determining a model order; determining input and output variables and to-be-identified model parameters of the inverted pendulum system according to the performance and simple physical analysis of the inverted pendulum system; considering the optimization complexity of a target function, calculating an input and output noise variance firstly by adopting a parame