【摘要】 本文在MATLAB环境下建立了二级倒立摆的半物理实时仿真模型,并应用线性二次型最优控制策略,设计了一个二级倒立摆LQR控制器。在实验中,运行该半实物仿真模型,成功的使倒立摆稳定地平衡在“倒立”状态。更多还原

【Abstract】 This paper build a model of hardware in the loop using MATLAB. The linear quadratic optimal control strategy is adopted to design a LQR controller of double inverted pendulum. The model of hardware in the loop successfully makes the double inverted pendulum steadily stabilized at "inverted" state.更多还原