基于广义预测控制的倒立摆设计及仿真实现

The Design and Imitating Realization for the Pendulum Based on the Generalized Prediction Control

倒立摆是典型的非线性、不稳定的控制对象,针对倒立摆的特点本文利用广义预测控制算法解决了直线一级倒立摆摆杆自由下垂时,保持倒立摆的自由下垂状态,并用仿真的方法研究了它们的控制性能和特点,从而实现对复杂非线性系统的实时控制,实现了倒立摆的摆起及稳定控制,起到了较好的控制效果。

pendulum is a typical non-linear and non-stabillty controlling object. This paper resolve the problem how to keep on the freely pending state when the pole of the pendulum is pending freely, study the controlling performance and character by the imitating way, and realize the real-time control for the complicated non-linear system. The result show this way can control the pendulum well.