【摘要】 倒立摆系统以其自身的不稳定性而难以控制,也因此成为自动控制实验中验证控制策略优劣的极好的实验装置。针对二级倒立摆系统的平衡控制问题,对其进行数学建模,应用二次型最优控制理论设计了控制器。仿真结果表明,二次型最优控制对于典型非线性自不稳定系统有着很好的控制能力。更多还原

【Abstract】 Inverted pendulum system is difficult to control because of its instability. It becomes the wonderful experiment device to verify how about the control strategy in automatic control experiment. The double inverted pendulum is modeled and the controller is designed by using quadratic optimal control theory to its equilibrium control question. The simulating results show that quadratic optimal control has the ability to control the representative nonlinear instability system.更多还原