【摘要】 倒立摆系统是一个复杂的、非线性的、不稳定的高阶系统。倒立摆的控制一直是控制理论及应用的典型课题,而实施有效控制的关键是对该系统进行建模。在对倒立摆系统进行了概要的介绍后,详述了如何利用拉格朗日方程对直线柔性连接两级倒立摆建模。科研人员可基于此模型研发各种控制策略。更多还原

【Abstract】 The inverted pendulum system is a complicated, nonlinear, unstable system of high order, the stability of that is a typical problem to the application of modern control theory. The key for controlling this system is the modeling.At first, the introduction about Inverted Pendulum system is presented, then in this paper the modeling of linear spring-connected double inverted pendulum system by using Lagrange equation is described in detail. Based on the model, researchers can design diverse control strategies.更多还原