【摘要】 “现代控制理论”实验课中实验项目“旋转式倒立摆的状态反馈控制器和状态观测器设计”平台对非线性控制实验进行教学改进，通过坐标变换和设计虚拟控制进行非线性输出(负)反馈控制研究，包括Kalman滤波器及应用、动态补偿器设计及稳定条件、智能非线性神经网络建模及应用，基于DSP控制器对一阶旋转式倒立摆系统进行在线控制等。通过课程达成度评价表的成绩定量分析对实验课程目标/对应指标点达成情况，并分析及解决学生实验出现的问题。更多还原

【Abstract】 Aiming at the nonlinear control experiment, teaching improvement is carried out with the help of the experimental project “State Feedback Controller and State Observer Design of Rotary Inverted Pendulum” in the experimental class of “Modern Control Theory”. Firstly, nonlinear coordinate transformation and design virtual control are performed. Output(negative) feedback control research(it is not necessary to be transformed into a linear system), includes Kalman filter and application, dynamic compensator design and stability conditions, intelligent nonlinear neural network modeling and application, etc., can be On-line control of the first-order rotary inverted pendulum system is controlled based on DSP controller. Finally, the achievement quantitative analysis method of the course achievement evaluation table is used to analyze the achievement of the experimental course goals/corresponding index points and the problems in the student experiment.更多还原