现代控制理论在三级倒立摆系统中的应用

Application of Modern Control Theory to the Triple Inverted Pendulum System

本文提出了一种带有两个控制电机的三级倒立摆的新结构形式。文中采用Lagrange方法导出三级倒立摆的数学模型。控制系统的设计方法采用了基于现代控制理论的状态反馈控制器和状态观测器,并由单板机通过软件的方法实现。实验结果是令人满意的。

A new structure form of a triple inverted pendulum with two control motors is presented in this paper. The triple inverted pendulum system is controlled with a single board computer. The mathematical model is derived by using the Lagrange method. The control system is designed based on the state variable feedback controller and observer. The designed controller and observer are implemented in a single board computer with the software method. The results of the real-time control are satisfactory.