【摘要】 文章给出了二级倒立摆系统的硬件组成，分析了二级倒立摆的系统结构、数学模型．分析了系统的可控性、可观测性，给出了控制算法．在实践中，证明该方法可行，成功地立起二级倒立摆更多还原

【Abstract】 The paper presents the hardware structure of double inverted pendulum control system.The mathematical model and the system construction of double inverted pendulum was analysed.The controllability and observability of system was also analysed.A control algorithm was presented.In practice,the results of the system have been proved.The double inverted pendulum was stood successfully. [更多还原