【摘要】 本文在利用牛顿运动定律建立起一阶倒立摆数学模型的基础上 ,对精确模型进行了工作点附近的线性化与降阶处理 ;以摆角为内环、小车位移为外环 ,利用鲁棒控制理论设计出确定参数 (摆长L和摆杆质量m)下的内、外环PD控制器 ;数字仿真实验证明了该方法的有效性更多还原

【Abstract】 The paper linearizes and simplifies the mathematics model of the single inverted pendulum , what is found according to the second law of Newton , nearby the work-point and then uses the angle of the pendulum as the inner-loop, uses the displacement of the small car as the outer-loop, makes use of the robust control theories to design the PD controller of the inner -loop and the outer-loop to the certain parameters the length and the quantity of the pole. Finally, the digital imitations are given to illustrate the effectiveness of the method.更多还原