【摘要】 在对二级倒立摆系统的动力学方程进行建模的基础上,将其转化为线性定常系统的状态控制问题,运用LQR控制器在MATLAB平台上实现了该系统的最优控制策略,并给出了相应的实验结果.更多还原

【Abstract】 Inverted pendulum system is a complicated, nonlinear, unstable system of high order. In the paper, it is discussed how to model the system of double inverted pendulums by using dynamics equation and then to transform into a control problem of linearized system. The optimized controlling policy with LQR controller is established on the MATLAB platform. The relevant experiment is also provided.更多还原