【摘要】 针对倒立摆系统非线性、鲁棒性、镇定、随动及跟踪等问题,提出二次型状态反馈控制。LQR控制器用于倒立摆的控制模式,保持摆锤稳定在竖直向上不稳定状态点附近,使小车位移跟踪给定信号。应用Matlab工具函数lqr,得到最优控制器对应的反馈增益矩阵,由此实现求反馈矩阵及倒立摆控制的程序。其仿真实验效果较好。更多还原

【Abstract】 The pendulum system involves many important theory problems,such as nonlinear problems,robustness,stability,follow-up and tracking. The LQR state feedback control is given. The LQR controller uses the pendulum control mode to keep the pendulum near the vertical up unstable state points and gives signals of car displacement tracking. The Matlab tool function lqr is adopted to acquire the corresponding feedback plus matrix of optimized controller. Then,the program of feedback matrix and pendulum control is realized. The simulation is effective.更多还原