摘要
本文针对一级直线型倒立摆对象 ,基于非线性共振原理和线性二次型最优状态反馈控制 ,提出了一种基于状态的切换控制策略 ,实现了倒立摆的快速摆起和镇定。最后通过仿真实验表明 。
A strategy of switched control is proposed based on the nonlinear s ympathetic vibration theory and optimal state feedback linear quadratic regulato r.The process of swing-up and stabilization of the inverted pendulum is quite fa st.The simulation and related studies are provided.
出处
《自动化技术与应用》
2004年第10期23-26,共4页
Techniques of Automation and Applications
关键词
倒立摆系统
切换控制
非线性共振
状态反馈
Inverted pendulum system
Switched control
Nonlinear sympathetic vibration
Sta te feedback
