摘要
针对一级倒立摆的一种非线性动力学模型进行了局部线性化,得到了其状态空间描述的线性化模型。基于Maple使用吴方法分析了该线性系统的能控性,所得结论与使用现代控制理论所得的结论完全一致。
A linear mathematic model of the single-inversed pendulum is presented from predigesting a kind of nonlinear dynamic model of it. And the linear mathematic is expressed based on the state space theory. Then the controllability of the linear system is analyzed base on Wu method. The conclusion of the analysis is in accord with the verdict based on state space theory.
出处
《机电产品开发与创新》
2005年第3期10-11,共2页
Development & Innovation of Machinery & Electrical Products
关键词
一级倒立摆
MAPLE
吴方法
能控性
single-inversed pendulum
Maple
Wu method
controllability
