基于卡尔曼滤波的一级倒立摆LQR控制研究

Control to inverted pendulum based on kalman filter

倒立摆系统的输出不可避免地受到系统噪声和量测噪声的影响，应用卡尔曼滤波对系统输出作最优估计，可以有效地提高系统的鲁棒性。文中给出了卡尔曼滤波应用条件，对单一LQR调节器系统和前置卡尔曼滤波的LQR调节器系统作了仿真对比。并应用前置卡尔曼滤波的LQR调节器成功稳定了一级倒立摆系统。

The output of inverted pendulum system is inevitably disturbed by system noise and measure noise. Kalman filter is applied to make an optional estimation for the system output, which can improve the system robust. The Kalman filter application condition is given in this paper and makes an emulation contrast between the single LQR adjuster with forehead kalman filter system. Applying the LQR adjuster with forehead kalman filter stabilized single inverted pendulum system successfully.