倒立摆系统的建模及MATLAB仿真

The Model Building of Inverted Pendulum System and Simulation under the MATLAB Enviroment

通过建立倒立摆系统的数学模型,应用状态反馈控制配置系统极点设计倒立摆系统的控制器,实现其状态反馈,从而使倒立摆系统稳定工作。之后通过MATLAB软件中Si mulink工具对倒立摆的运动进行计算机仿真,仿真结果表明,所设计方法可使系统稳定工作并具有良好的动静态性能。

The mathematical model of inverted pendulum system is built, and a controller is designed based on the pole placement method with full state feedback to make the inverted pendulum system work stably. Then computer simulation for the movement of inverted pendulum is done by the Simulink tool of the MATLAB software . The result of simulation shows that this method can make the system work stably and have good dynamic,static qualities. Therefore, it is effective.