二级倒立摆系统的最佳控制

Optimal Control of Double Inverted Pendulum System

二级倒立摆系统的最佳控制利用最佳控制理论对其状态重构,构建最佳反馈离散控制器,并合理选择Riccati方程中的Q、R矩阵,设计离散控制降维观测器获得最佳反馈矩阵。由于不同离散时间和相应的不同矩阵其结果不完全相等,故对得到结果进行计算分析,最终选取一组较好参数作为离散时间和相关矩阵,以实现最佳控制。

The optimal control of double inverted pendulum system is that State variables are reconstructed by optimal control theory, optimal feedback discrete controller is set up. The matrix Q, R of Riccati equation and discrete time are rationally selected, discrete reduced observer is designed to obtain optimal feedback control matrix. The obtained results were calculated and analyzed due to different results brought on different discrete time and different matrix, and a set of better parameter was selected to use as discrete time and correlation matrix, and then optimal control of double inverted pendulum system is realized.