【摘要】 针对多变量、非线性、强耦合的单级倒立摆系统,采用基于最优控制理论的LQR控制方法,研究了线性二次型最优控制器、参考输入和状态观测器的设计,并借助Matlab仿真软件进行辅助分析。结果表明各项性能均符合要求,达到最优控制,对该方向的研究具有理论指导意义。更多还原

【Abstract】 A linear quadratic optimal controller, reference input and state observer based on optimal control LQR are studied for a multivariable, nonlinear and strongly-coupling single inverted pendulum.This article gives assist analysis with the Matlab.The result indicates the properties accord with requirement and reach optimal control, and can help the learning in this respect and have a guidingmeaningin the theorem.更多还原