应用神经元控制器的实时控制装置和实验

Real Time Control Equipment and Experiments with Neural Controller

针对平衡倒立摆这一非线性控制问题，设计了神经元控制器和控制装置，编制了实时控制程序．控制装置运行良好，成功地平衡了倒立摆．实时控制实验显示，当倒立摆的参数变化时，神经元控制器比一般的控制器具有强得多的自适应能力．

it is widely believed that balancing an inverted Pendulum is a diHicult nonlinear control task. In this paper neural controller and control equipment were designed to balance an inverted pendulum. The real time control programs were also designed. The inverted pendulum was successfully balanced in real time control experiments of neural controller.It was shown that neural controller obviously demonstrated much better robustness thanstate space controller when the parameters of the inverted pendulum were changed.