单时滞倒立摆系统的稳定性分析

Stability analysis of inverted pendulum with delay

对单时滞倒立摆系统方程进行稳定性分析,通过对系统线性化方程的特征方程根分布的分析,给出了时滞量改变对系统稳定性影响的具体结论和公式。适当的滞量值会使倒立摆系统具有良好的稳定性。

To analyze stability of inverted pendulum system with time delays, the paper introduces logical linearizing nonlinear system at equilibrium to investigate show stability of system to arrive at some practicability conclusions and formulas, and obtain a proper delay made inverted pendulum with excellent stability.